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<a href="fsm__slave__config_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  $Id: fsm_slave_config.c,v 6b21b3f88a9a 2013/02/06 16:25:08 fp $</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  This file is part of the IgH EtherCAT Master.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is free software; you can redistribute it and/or</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modify it under the terms of the GNU General Public License version 2, as</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  published by the Free Software Foundation.</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  The IgH EtherCAT Master is distributed in the hope that it will be useful,</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  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Using the</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  EtherCAT technology and brand is only permitted in compliance with the</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  industrial property and similar rights of Beckhoff Automation GmbH.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;asm/div64.h&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="globals_8h.html">globals.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="master_8h.html">master.h</a>&quot;</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="mailbox_8h.html">mailbox.h</a>&quot;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="slave__config_8h.html">slave_config.h</a>&quot;</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="fsm__slave__config_8h.html">fsm_slave_config.h</a>&quot;</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aef4451a8493a8ee8d4178870fba218fd">   52</a></span>&#160;<span class="preprocessor">#define EC_DC_MAX_SYNC_DIFF_NS 10000</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aa507b566eace93ee237a040d67a90430">   56</a></span>&#160;<span class="preprocessor">#define EC_DC_SYNC_WAIT_MS 5000</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ae3ebe26a0aba621a2fa21a8c216ef4bb">   60</a></span>&#160;<span class="preprocessor">#define EC_DC_START_OFFSET 100000000ULL</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a1fa4b37f0223f56e502f069897e9b319">ec_fsm_slave_config_state_start</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a26ea56ff1e196cb0e02fa94e3aaaca39">ec_fsm_slave_config_state_init</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a29ccfdca2018704cce354e27d2ca264e">ec_fsm_slave_config_state_clear_fmmus</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad2372ca4d8aebe4b1df13d6e090a56b8">ec_fsm_slave_config_state_clear_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ac31c959dd3168644026c64fc841fe795">ec_fsm_slave_config_state_dc_clear_assign</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a9dec0908b83d7209da989b2c6e8debf2">ec_fsm_slave_config_state_mbox_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_state_assign_pdi(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af700291b7a95c29d9485d78a53ca4456">ec_fsm_slave_config_state_boot_preop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_state_assign_ethercat(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a8c9aa96eb69c86706cdfeeaa4b4b17dd">ec_fsm_slave_config_state_sdo_conf</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aa115b184092cf474070e8810cd35379b">ec_fsm_slave_config_state_soe_conf_preop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a62bf6e44b03ddefd7c14106fb5400dd8">ec_fsm_slave_config_state_watchdog_divider</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a8ac8e5402dd89ef793a8ea5de59bb1b4">ec_fsm_slave_config_state_watchdog</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a23076a31e43499d1165ce23873a9bca6">ec_fsm_slave_config_state_pdo_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aeee2e09af3d8a8d6ad35a9c89f869b74">ec_fsm_slave_config_state_pdo_conf</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a879e6e3cf0da1700a80deea5f25f673f">ec_fsm_slave_config_state_fmmu</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aa0e41535e16539525584f3e0073d5c3b">ec_fsm_slave_config_state_dc_cycle</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad5a3b1f715cac3cdb65d6e949a5d6080">ec_fsm_slave_config_state_dc_sync_check</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad651366e02dfe226542b571eb5b459b5">ec_fsm_slave_config_state_dc_start</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a4f251cd33ffedc3dd47b10c058dbcd4a">ec_fsm_slave_config_state_dc_assign</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a53d7a3f43b0c377d53176178e9ad3f7d">ec_fsm_slave_config_state_safeop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#afb5e783f09530f52f9ee6130f717bd69">ec_fsm_slave_config_state_soe_conf_safeop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#afd878d760f1d15be33a19791d174a0c8">ec_fsm_slave_config_state_op</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">ec_fsm_slave_config_enter_init</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">ec_fsm_slave_config_enter_clear_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">ec_fsm_slave_config_enter_dc_clear_assign</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">ec_fsm_slave_config_enter_mbox_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_enter_assign_pdi(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">ec_fsm_slave_config_enter_sdo_conf</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">ec_fsm_slave_config_enter_soe_conf_preop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">ec_fsm_slave_config_enter_pdo_conf</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ada4717cc684d2830bd4f3ea1edea6610">ec_fsm_slave_config_enter_watchdog_divider</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765">ec_fsm_slave_config_enter_watchdog</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417">ec_fsm_slave_config_enter_fmmu</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed">ec_fsm_slave_config_enter_dc_cycle</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#adf4f1684a79998d257bbb6b22a0ba626">ec_fsm_slave_config_enter_soe_conf_safeop</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(<a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *);</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="fsm__slave__config_8h.html#a3cf535ef054ccf014948d693179bd9e3">  121</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a093814930df5e3d3af495e85398aa872">ec_fsm_slave_config_init</a>(</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm, </div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram, </div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <a class="code" href="structec__fsm__change.html">ec_fsm_change_t</a> *fsm_change, </div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="structec__fsm__coe.html">ec_fsm_coe_t</a> *fsm_coe, </div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="structec__fsm__soe.html">ec_fsm_soe_t</a> *fsm_soe, </div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="structec__fsm__pdo.html">ec_fsm_pdo_t</a> *fsm_pdo </div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        )</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <a class="code" href="sdo__request_8c.html#a0e62e96b9d01ab1b89cc2df89d0ac8ef">ec_sdo_request_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <a class="code" href="soe__request_8c.html#ac48c2c807e1193b309dc20b08db88af1">ec_soe_request_init</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a> = datagram;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a> = fsm_change;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a> = fsm_coe;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a> = fsm_soe;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">fsm_pdo</a> = fsm_pdo;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;}</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="fsm__slave__config_8h.html#aa5f111e82c517aba5f4d05193299dd56">  144</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ac2b66c1eec055bdf97dfe28b1867829a">ec_fsm_slave_config_clear</a>(</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        )</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;{</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <a class="code" href="sdo__request_8c.html#af3a555948ca6b916238e6c696d676645">ec_sdo_request_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <a class="code" href="soe__request_8c.html#af363b99bdce32c73c89bcec7520b5d01">ec_soe_request_clear</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="fsm__slave__config_8h.html#a33e8b316f85096b24e24cd6d3d4d4182">  156</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a23969958ec22371a9b35cdb99e826885">ec_fsm_slave_config_start</a>(</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm, </div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <a class="code" href="structec__slave.html">ec_slave_t</a> *slave </div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        )</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;{</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a> = slave;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a1fa4b37f0223f56e502f069897e9b319">ec_fsm_slave_config_state_start</a>;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;}</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a5ebfe5792997b3d5f0a815e23e57a039">  170</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__slave__config_8c.html#a5ebfe5792997b3d5f0a815e23e57a039">ec_fsm_slave_config_running</a>(</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        )</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;{</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> != <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> != <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="fsm__slave__config_8h.html#ae044ed2bcf430f33553d73dda1c6361b">  187</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__slave__config_8c.html#ac57f8276c2094c03c4bff58efd775d37">ec_fsm_slave_config_exec</a>(</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        )</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;{</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720abe88d98e46c97099702211a92e1d8c9d">EC_DATAGRAM_SENT</a></div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        || fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720acb7d25358159e7c95e334a74b97d661c">EC_DATAGRAM_QUEUED</a>) {</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="comment">// datagram was not sent or received yet.</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="fsm__slave__config_8c.html#a5ebfe5792997b3d5f0a815e23e57a039">ec_fsm_slave_config_running</a>(fsm);</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    }</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a>(fsm);</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="keywordflow">return</span> <a class="code" href="fsm__slave__config_8c.html#a5ebfe5792997b3d5f0a815e23e57a039">ec_fsm_slave_config_running</a>(fsm);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;}</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="fsm__slave__config_8h.html#ae91cb2bb7fccbbc5dd9ca7101a97b493">  206</a></span>&#160;<span class="keywordtype">int</span> <a class="code" href="fsm__slave__config_8c.html#a1d6f6bb1032bf3687e6be6b71a66a008">ec_fsm_slave_config_success</a>(</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        )</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;{</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">return</span> fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> == <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;}</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;<span class="comment"> * Slave configuration state machine</span></div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a1fa4b37f0223f56e502f069897e9b319">  219</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a1fa4b37f0223f56e502f069897e9b319">ec_fsm_slave_config_state_start</a>(</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        )</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;{</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, 1, <span class="stringliteral">&quot;Configuring...\n&quot;</span>);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">ec_fsm_slave_config_enter_init</a>(fsm);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;}</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">  231</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">ec_fsm_slave_config_enter_init</a>(</div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        )</div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;{</div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0af8bd16b734a32ab829a51f81620edfff">EC_SLAVE_STATE_INIT</a>);</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    <a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>);</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a26ea56ff1e196cb0e02fa94e3aaaca39">ec_fsm_slave_config_state_init</a>;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;}</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a26ea56ff1e196cb0e02fa94e3aaaca39">  244</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a26ea56ff1e196cb0e02fa94e3aaaca39">ec_fsm_slave_config_state_init</a>(</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        )</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;{</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) {</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a>)</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    }</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Now in INIT.\n&quot;</span>);</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a>) { <span class="comment">// skip FMMU configuration</span></div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">ec_fsm_slave_config_enter_clear_sync</a>(fsm);</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Clearing FMMU configurations...\n&quot;</span>);</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="comment">// clear FMMU configurations</span></div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>,</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;            0x0600, <a class="code" href="globals_8h.html#a1e0360410ca3cc2357e27b566951d52d">EC_FMMU_PAGE_SIZE</a> * slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a>);</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a29ccfdca2018704cce354e27d2ca264e">ec_fsm_slave_config_state_clear_fmmus</a>;</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;}</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;</div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div><div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a29ccfdca2018704cce354e27d2ca264e">  281</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a29ccfdca2018704cce354e27d2ca264e">ec_fsm_slave_config_state_clear_fmmus</a>(</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        )</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;</div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;</div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;Failed receive FMMU clearing datagram.\n&quot;</span>);</div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;</div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;Failed to clear FMMUs: &quot;</span>);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    }</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">ec_fsm_slave_config_enter_clear_sync</a>(fsm);</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;}</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div><div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">  311</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">ec_fsm_slave_config_enter_clear_sync</a>(</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        )</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;{</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordtype">size_t</span> sync_size;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#aa4d67d55717398c4f25d379ede390d5d">base_sync_count</a>) {</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        <span class="comment">// no sync managers</span></div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">ec_fsm_slave_config_enter_dc_clear_assign</a>(fsm);</div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    }</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Clearing sync manager configurations...\n&quot;</span>);</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    sync_size = <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * slave-&gt;<a class="code" href="structec__slave.html#aa4d67d55717398c4f25d379ede390d5d">base_sync_count</a>;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="comment">// clear sync manager configurations</span></div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0800, sync_size);</div><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ad2372ca4d8aebe4b1df13d6e090a56b8">ec_fsm_slave_config_state_clear_sync</a>;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;}</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div><div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ad2372ca4d8aebe4b1df13d6e090a56b8">  340</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad2372ca4d8aebe4b1df13d6e090a56b8">ec_fsm_slave_config_state_clear_sync</a>(</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        )</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;{</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;Failed receive sync manager&quot;</span></div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                <span class="stringliteral">&quot; clearing datagram.\n&quot;</span>);</div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    }</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>,</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                <span class="stringliteral">&quot;Failed to clear sync manager configurations: &quot;</span>);</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    }</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">ec_fsm_slave_config_enter_dc_clear_assign</a>(fsm);</div><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;}</div><div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;</div><div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">  372</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">ec_fsm_slave_config_enter_dc_clear_assign</a>(</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        )</div><div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;{</div><div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;</div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a2b02f5e40a79f9b6213dde898a10b873">base_dc_supported</a> || !slave-&gt;<a class="code" href="structec__slave.html#a65fba9aad1f196c6c43ba7dceecc15dd">has_dc_system_time</a>) {</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">ec_fsm_slave_config_enter_mbox_sync</a>(fsm);</div><div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    }</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;</div><div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Clearing DC assignment...\n&quot;</span>);</div><div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;</div><div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0980, 2);</div><div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac31c959dd3168644026c64fc841fe795">ec_fsm_slave_config_state_dc_clear_assign</a>;</div><div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;}</div><div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;</div><div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;</div><div class="line"><a name="l00396"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ac31c959dd3168644026c64fc841fe795">  396</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ac31c959dd3168644026c64fc841fe795">ec_fsm_slave_config_state_dc_clear_assign</a>(</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        )</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;{</div><div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;Failed receive DC assignment&quot;</span></div><div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                <span class="stringliteral">&quot; clearing datagram.\n&quot;</span>);</div><div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    }</div><div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;</div><div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        <span class="comment">// clearing the DC assignment does not succeed on simple slaves</span></div><div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, 1, <span class="stringliteral">&quot;Failed to clear DC assignment: &quot;</span>);</div><div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    }</div><div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;</div><div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">ec_fsm_slave_config_enter_mbox_sync</a>(fsm);</div><div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;}</div><div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;</div><div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;</div><div class="line"><a name="l00425"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">  425</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">ec_fsm_slave_config_enter_mbox_sync</a>(</div><div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        )</div><div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;{</div><div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i;</div><div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;</div><div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;    <span class="comment">// slave is now in INIT</span></div><div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> == slave-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a>) {</div><div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>; <span class="comment">// successful</span></div><div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Finished configuration.\n&quot;</span>);</div><div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    }</div><div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;</div><div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">mailbox_protocols</a>) {</div><div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        <span class="comment">// no mailbox protocols supported</span></div><div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Slave does not support&quot;</span></div><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;                <span class="stringliteral">&quot; mailbox communication.\n&quot;</span>);</div><div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;        ec_fsm_slave_config_enter_assign_pdi(fsm);</div><div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(fsm);</div><div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    }</div><div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;</div><div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Configuring mailbox sync managers...\n&quot;</span>);</div><div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;</div><div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a> == <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a>) {</div><div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> sync;</div><div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;</div><div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0800,</div><div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;                <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * 2);</div><div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;</div><div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <a class="code" href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a>(&amp;sync, slave);</div><div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#abdcbea468841ca94492bae78207b1282">boot_rx_mailbox_offset</a>;</div><div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        sync.<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = 0x26;</div><div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = 1;</div><div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(&amp;sync, 0, slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#aa5e4828a5bb2ea45194de12fe48608ed">boot_rx_mailbox_size</a>,</div><div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054">EC_DIR_INVALID</a>, <span class="comment">// use default direction</span></div><div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                0, <span class="comment">// no PDO xfer</span></div><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>);</div><div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a885011c3377eacc3513c7806db9ea4d4">configured_rx_mailbox_offset</a> =</div><div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#abdcbea468841ca94492bae78207b1282">boot_rx_mailbox_offset</a>;</div><div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a0310afbbf38da2a92cdbe3911a46535c">configured_rx_mailbox_size</a> =</div><div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#aa5e4828a5bb2ea45194de12fe48608ed">boot_rx_mailbox_size</a>;</div><div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;</div><div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <a class="code" href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a>(&amp;sync, slave);</div><div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a91d2fc76e5e4b634e130aa9e51e71bfc">boot_tx_mailbox_offset</a>;</div><div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;        sync.<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = 0x22;</div><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = 1;</div><div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(&amp;sync, 1, slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a65ead35255e661f345c9d15033347b10">boot_tx_mailbox_size</a>,</div><div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;                <a class="code" href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054">EC_DIR_INVALID</a>, <span class="comment">// use default direction</span></div><div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;                0, <span class="comment">// no PDO xfer</span></div><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a>);</div><div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a365e2116bd54803112c56cb3a98970cb">configured_tx_mailbox_offset</a> =</div><div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a91d2fc76e5e4b634e130aa9e51e71bfc">boot_tx_mailbox_offset</a>;</div><div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a79ecaa06844f2b8bf2d1b4d9bfae9207">configured_tx_mailbox_size</a> =</div><div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a65ead35255e661f345c9d15033347b10">boot_tx_mailbox_size</a>;</div><div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;</div><div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;    } <span class="keywordflow">else</span> <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#add5337cd03f09660a3bfe91e4047ed2c">sync_count</a> &gt;= 2) { <span class="comment">// mailbox configuration provided</span></div><div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0800,</div><div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;                <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#add5337cd03f09660a3bfe91e4047ed2c">sync_count</a>);</div><div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;</div><div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; 2; i++) {</div><div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;            <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(&amp;slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[i], i,</div><div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;                    slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[i].<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>,</div><div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;                    NULL, <span class="comment">// use default sync manager configuration</span></div><div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;                    0, <span class="comment">// no PDO xfer</span></div><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;                    datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * i);</div><div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;        }</div><div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;</div><div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a885011c3377eacc3513c7806db9ea4d4">configured_rx_mailbox_offset</a> =</div><div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[0].<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>;</div><div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a0310afbbf38da2a92cdbe3911a46535c">configured_rx_mailbox_size</a> =</div><div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[0].<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>;</div><div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a365e2116bd54803112c56cb3a98970cb">configured_tx_mailbox_offset</a> =</div><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[1].<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a>;</div><div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a79ecaa06844f2b8bf2d1b4d9bfae9207">configured_tx_mailbox_size</a> =</div><div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[1].<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>;</div><div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;    } <span class="keywordflow">else</span> { <span class="comment">// no mailbox sync manager configurations provided</span></div><div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;        <a class="code" href="structec__sync__t.html">ec_sync_t</a> sync;</div><div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;</div><div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Slave does not provide&quot;</span></div><div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;                <span class="stringliteral">&quot; mailbox sync manager configurations.\n&quot;</span>);</div><div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;</div><div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0800,</div><div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;                <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * 2);</div><div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;</div><div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        <a class="code" href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a>(&amp;sync, slave);</div><div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a0172b2d04dcbc56d75abc1efa76dd392">std_rx_mailbox_offset</a>;</div><div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        sync.<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = 0x26;</div><div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = 1;</div><div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;        <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(&amp;sync, 0, slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#abcdfe5aa59f2fcbf9deaa4d1a9c954fe">std_rx_mailbox_size</a>,</div><div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;                NULL, <span class="comment">// use default sync manager configuration</span></div><div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;                0, <span class="comment">// no PDO xfer</span></div><div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>);</div><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a885011c3377eacc3513c7806db9ea4d4">configured_rx_mailbox_offset</a> =</div><div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a0172b2d04dcbc56d75abc1efa76dd392">std_rx_mailbox_offset</a>;</div><div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a0310afbbf38da2a92cdbe3911a46535c">configured_rx_mailbox_size</a> =</div><div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#abcdfe5aa59f2fcbf9deaa4d1a9c954fe">std_rx_mailbox_size</a>;</div><div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;</div><div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        <a class="code" href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a>(&amp;sync, slave);</div><div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">physical_start_address</a> = slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#aa5c8f21c36995d272bc456266e035815">std_tx_mailbox_offset</a>;</div><div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;        sync.<a class="code" href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">control_register</a> = 0x22;</div><div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        sync.<a class="code" href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">enable</a> = 1;</div><div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(&amp;sync, 1, slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a47eb676cee305c53f5fec378bc95c68d">std_tx_mailbox_size</a>,</div><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;                NULL, <span class="comment">// use default sync manager configuration</span></div><div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;                0, <span class="comment">// no PDO xfer</span></div><div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a>);</div><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a365e2116bd54803112c56cb3a98970cb">configured_tx_mailbox_offset</a> =</div><div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#aa5c8f21c36995d272bc456266e035815">std_tx_mailbox_offset</a>;</div><div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#a79ecaa06844f2b8bf2d1b4d9bfae9207">configured_tx_mailbox_size</a> =</div><div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a47eb676cee305c53f5fec378bc95c68d">std_tx_mailbox_size</a>;</div><div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    }</div><div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;</div><div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a884fcfd4e7f6e89d0d99dab720939c07">take_time</a> = 1;</div><div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;</div><div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a9dec0908b83d7209da989b2c6e8debf2">ec_fsm_slave_config_state_mbox_sync</a>;</div><div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;}</div><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;</div><div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;</div><div class="line"><a name="l00557"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a9dec0908b83d7209da989b2c6e8debf2">  557</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a9dec0908b83d7209da989b2c6e8debf2">ec_fsm_slave_config_state_mbox_sync</a>(</div><div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        )</div><div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;{</div><div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;</div><div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;</div><div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive sync manager&quot;</span></div><div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;                <span class="stringliteral">&quot; configuration datagram: &quot;</span>);</div><div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    }</div><div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;</div><div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a884fcfd4e7f6e89d0d99dab720939c07">take_time</a>) {</div><div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a884fcfd4e7f6e89d0d99dab720939c07">take_time</a> = 0;</div><div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">jiffies_start</a> = datagram-&gt;<a class="code" href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">jiffies_sent</a>;</div><div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;    }</div><div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;</div><div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="comment">/* Because the sync manager configurations are cleared during the last</span></div><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;<span class="comment">     * cycle, some slaves do not immediately respond to the mailbox sync</span></div><div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;<span class="comment">     * manager configuration datagram. Therefore, resend the datagram for</span></div><div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;<span class="comment">     * a certain time, if the slave does not respond.</span></div><div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;<span class="comment">     */</span></div><div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> == 0) {</div><div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> diff = datagram-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a> - fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">jiffies_start</a>;</div><div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;</div><div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;        <span class="keywordflow">if</span> (diff &gt;= HZ) {</div><div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;            <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Timeout while configuring&quot;</span></div><div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;                    <span class="stringliteral">&quot; mailbox sync managers.\n&quot;</span>);</div><div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Resending after %u ms...\n&quot;</span>,</div><div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;                    (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>) diff * 1000 / HZ);</div><div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;        }</div><div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;</div><div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;        <span class="comment">// send configuration datagram again</span></div><div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    }</div><div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set sync managers: &quot;</span>);</div><div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    }</div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;    ec_fsm_slave_config_enter_assign_pdi(fsm);</div><div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(fsm);</div><div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;}</div><div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;</div><div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;</div><div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;</div><div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_enter_assign_pdi(</div><div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        )</div><div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;{</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a> != <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a>) {</div><div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Assigning SII access to PDI.\n&quot;</span>);</div><div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;</div><div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0500, 0x01);</div><div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, 0x01); <span class="comment">// PDI</span></div><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = ec_fsm_slave_config_state_assign_pdi;</div><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    }</div><div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordflow">else</span> {</div><div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(fsm);</div><div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;    }</div><div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;}</div><div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;</div><div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_state_assign_pdi(</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;        )</div><div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;{</div><div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;</div><div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--) {</div><div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;    }</div><div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;</div><div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed receive SII assignment datagram: &quot;</span>);</div><div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;        <span class="keywordflow">goto</span> cont_preop;</div><div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;    }</div><div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;</div><div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed to assign SII to PDI: &quot;</span>);</div><div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    }</div><div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;</div><div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;cont_preop:</div><div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(fsm);</div><div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;}</div><div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;</div><div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;</div><div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;</div><div class="line"><a name="l00680"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">  680</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a>(</div><div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;        )</div><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;{</div><div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#af700291b7a95c29d9485d78a53ca4456">ec_fsm_slave_config_state_boot_preop</a>;</div><div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;</div><div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a> != <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a>) {</div><div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;        <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>,</div><div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a1db532f4df475e41ee0613551f7bdc0c">EC_SLAVE_STATE_PREOP</a>);</div><div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;    } <span class="keywordflow">else</span> { <span class="comment">// BOOT</span></div><div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;        <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>,</div><div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;                fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a>);</div><div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;    }</div><div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;</div><div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;    <a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;}</div><div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;</div><div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;</div><div class="line"><a name="l00701"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#af700291b7a95c29d9485d78a53ca4456">  701</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af700291b7a95c29d9485d78a53ca4456">ec_fsm_slave_config_state_boot_preop</a>(</div><div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;        )</div><div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;{</div><div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;</div><div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) {</div><div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;    }</div><div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;</div><div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) {</div><div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;        <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a>)</div><div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;    }</div><div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;</div><div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;    <span class="comment">// slave is now in BOOT or PREOP</span></div><div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;    slave-&gt;<a class="code" href="structec__slave.html#af177795f6287be576f617772d18e3dee">jiffies_preop</a> = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a>;</div><div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;</div><div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Now in %s.\n&quot;</span>,</div><div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a> != <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a> ? <span class="stringliteral">&quot;PREOP&quot;</span> : <span class="stringliteral">&quot;BOOT&quot;</span>);</div><div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;</div><div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Assigning SII access back to EtherCAT.\n&quot;</span>);</div><div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;</div><div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0500, 0x01);</div><div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;    <a class="code" href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, 0x00); <span class="comment">// EtherCAT</span></div><div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = ec_fsm_slave_config_state_assign_ethercat;</div><div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> == slave-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a>) {</div><div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>; <span class="comment">// successful</span></div><div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Finished configuration.\n&quot;</span>);</div><div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;    }</div><div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;</div><div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">ec_fsm_slave_config_enter_sdo_conf</a>(fsm);</div><div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;}</div><div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;</div><div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;</div><div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;<span class="preprocessor">#ifdef EC_SII_ASSIGN</span></div><div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;</div><div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;<span class="keywordtype">void</span> ec_fsm_slave_config_state_assign_ethercat(</div><div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;        )</div><div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;{</div><div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;</div><div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--) {</div><div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;    }</div><div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;</div><div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed receive SII assignment datagram: &quot;</span>);</div><div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;        <span class="keywordflow">goto</span> cont_sdo_conf;</div><div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    }</div><div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;</div><div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed to assign SII back to EtherCAT: &quot;</span>);</div><div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;    }</div><div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;</div><div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;cont_sdo_conf:</div><div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> == slave-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a>) {</div><div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>; <span class="comment">// successful</span></div><div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Finished configuration.\n&quot;</span>);</div><div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;    }</div><div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;</div><div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">ec_fsm_slave_config_enter_sdo_conf</a>(fsm);</div><div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;}</div><div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;</div><div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;</div><div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;</div><div class="line"><a name="l00786"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">  786</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">ec_fsm_slave_config_enter_sdo_conf</a>(</div><div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;        )</div><div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;{</div><div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;</div><div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(fsm);</div><div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;    }</div><div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;</div><div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;    <span class="comment">// No CoE configuration to be applied?</span></div><div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;    <span class="keywordflow">if</span> (list_empty(&amp;slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#aa980b60539d3818999fe9ba116851e1c">sdo_configs</a>)) { <span class="comment">// skip SDO configuration</span></div><div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">ec_fsm_slave_config_enter_soe_conf_preop</a>(fsm);</div><div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;    }</div><div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;</div><div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    <span class="comment">// start SDO configuration</span></div><div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a8c9aa96eb69c86706cdfeeaa4b4b17dd">ec_fsm_slave_config_state_sdo_conf</a>;</div><div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a> = list_entry(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#aa980b60539d3818999fe9ba116851e1c">sdo_configs</a>.next,</div><div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;            <a class="code" href="structec__sdo__request.html">ec_sdo_request_t</a>, list);</div><div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;    <a class="code" href="sdo__request_8c.html#a70e89eac4d08148fb507ec32756738b8">ec_sdo_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a>);</div><div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;    <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;    <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;}</div><div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;</div><div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;</div><div class="line"><a name="l00817"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a8c9aa96eb69c86706cdfeeaa4b4b17dd">  817</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a8c9aa96eb69c86706cdfeeaa4b4b17dd">ec_fsm_slave_config_state_sdo_conf</a>(</div><div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        )</div><div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;{</div><div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>)) {</div><div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    }</div><div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;</div><div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>)) {</div><div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;SDO configuration failed.\n&quot;</span>);</div><div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;    }</div><div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;</div><div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;    <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;    }</div><div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;</div><div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;    <span class="comment">// Another SDO to configure?</span></div><div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a>-&gt;<a class="code" href="structec__sdo__request.html#a80c68878d98d613513a0b985be43198e">list</a>.next != &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#aa980b60539d3818999fe9ba116851e1c">sdo_configs</a>) {</div><div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a> = list_entry(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a>-&gt;<a class="code" href="structec__sdo__request.html#a80c68878d98d613513a0b985be43198e">list</a>.next,</div><div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;                <a class="code" href="structec__sdo__request.html">ec_sdo_request_t</a>, list);</div><div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;        <a class="code" href="sdo__request_8c.html#a70e89eac4d08148fb507ec32756738b8">ec_sdo_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">request</a>);</div><div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;        <a class="code" href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">request_copy</a>);</div><div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        <a class="code" href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">fsm_coe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;    }</div><div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;</div><div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;    <span class="comment">// All SDOs are now configured.</span></div><div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">ec_fsm_slave_config_enter_soe_conf_preop</a>(fsm);</div><div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;}</div><div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;</div><div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;</div><div class="line"><a name="l00856"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">  856</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">ec_fsm_slave_config_enter_soe_conf_preop</a>(</div><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;        )</div><div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;{</div><div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;    <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a> *req;</div><div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;</div><div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(fsm);</div><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;    }</div><div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;</div><div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;    list_for_each_entry(req, &amp;slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a9bfab1eba98284fcaa21079ea1700188">soe_configs</a>, list) {</div><div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;        <span class="keywordflow">if</span> (req-&gt;<a class="code" href="structec__soe__request__t.html#aa421217a4fc552dc2411b07010a4520a">al_state</a> == <a class="code" href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaaf31a3511a6004d7909a71911a289681f">EC_AL_STATE_PREOP</a>) {</div><div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;            <span class="comment">// start SoE configuration</span></div><div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#aa115b184092cf474070e8810cd35379b">ec_fsm_slave_config_state_soe_conf_preop</a>;</div><div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a> = req;</div><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;            <a class="code" href="soe__request_8c.html#a0aed2b2f97cf1436f7f778ccfb8c5553">ec_soe_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>);</div><div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;            <a class="code" href="soe__request_8c.html#a02f5e4b5047b8722d5df2096860807bb">ec_soe_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;            <a class="code" href="fsm__soe_8c.html#a34c4cc4d7d8988a5786599d07d52aebd">ec_fsm_soe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>,</div><div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;                    &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;            <a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>);</div><div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;        }</div><div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;    }</div><div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;</div><div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;    <span class="comment">// No SoE configuration to be applied in PREOP</span></div><div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">ec_fsm_slave_config_enter_pdo_conf</a>(fsm);</div><div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;}</div><div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;</div><div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;</div><div class="line"><a name="l00890"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aa115b184092cf474070e8810cd35379b">  890</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aa115b184092cf474070e8810cd35379b">ec_fsm_slave_config_state_soe_conf_preop</a>(</div><div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;        )</div><div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;{</div><div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;</div><div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>)) {</div><div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;    }</div><div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;</div><div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__soe_8c.html#abe5fc037034ee0591047a678d3d52e36">ec_fsm_soe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>)) {</div><div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;SoE configuration failed.\n&quot;</span>);</div><div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;    }</div><div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;</div><div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;    <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;    }</div><div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;</div><div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;    <span class="comment">// Another IDN to configure in PREOP?</span></div><div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    <span class="keywordflow">while</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#a07cafa8f400f95ced4f6037629c979f6">list</a>.next != &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a9bfab1eba98284fcaa21079ea1700188">soe_configs</a>) {</div><div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a> = list_entry(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#a07cafa8f400f95ced4f6037629c979f6">list</a>.next,</div><div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;                <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a>, list);</div><div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;        <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#aa421217a4fc552dc2411b07010a4520a">al_state</a> == <a class="code" href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaaf31a3511a6004d7909a71911a289681f">EC_AL_STATE_PREOP</a>) {</div><div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;            <a class="code" href="soe__request_8c.html#a0aed2b2f97cf1436f7f778ccfb8c5553">ec_soe_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>);</div><div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;            <a class="code" href="soe__request_8c.html#a02f5e4b5047b8722d5df2096860807bb">ec_soe_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;            <a class="code" href="fsm__soe_8c.html#a34c4cc4d7d8988a5786599d07d52aebd">ec_fsm_soe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>,</div><div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;                    &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;            <a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>);</div><div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        }</div><div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;    }</div><div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;</div><div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;    <span class="comment">// All PREOP IDNs are now configured.</span></div><div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">ec_fsm_slave_config_enter_pdo_conf</a>(fsm);</div><div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;}</div><div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;</div><div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;</div><div class="line"><a name="l00934"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">  934</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">ec_fsm_slave_config_enter_pdo_conf</a>(</div><div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;        )</div><div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;{</div><div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;    <span class="comment">// Start configuring PDOs</span></div><div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;    <a class="code" href="fsm__pdo_8c.html#a45673c0ffcb4f251696b30fc86288253">ec_fsm_pdo_start_configuration</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">fsm_pdo</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>);</div><div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#aeee2e09af3d8a8d6ad35a9c89f869b74">ec_fsm_slave_config_state_pdo_conf</a>;</div><div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a>(fsm); <span class="comment">// execute immediately</span></div><div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;}</div><div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;</div><div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;</div><div class="line"><a name="l00948"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aeee2e09af3d8a8d6ad35a9c89f869b74">  948</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aeee2e09af3d8a8d6ad35a9c89f869b74">ec_fsm_slave_config_state_pdo_conf</a>(</div><div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;        )</div><div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;{</div><div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;    <span class="comment">// TODO check for config here</span></div><div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;</div><div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__pdo_8c.html#ad90d47e84f43b419017a9db1fc75c4cf">ec_fsm_pdo_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">fsm_pdo</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>)) {</div><div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;    }</div><div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;</div><div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;    <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;    }</div><div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;</div><div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__pdo_8c.html#adeb03e520938d50c3adb3b15b8a7801c">ec_fsm_pdo_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">fsm_pdo</a>)) {</div><div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <span class="stringliteral">&quot;PDO configuration failed.\n&quot;</span>);</div><div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;    }</div><div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;</div><div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ada4717cc684d2830bd4f3ea1edea6610">ec_fsm_slave_config_enter_watchdog_divider</a>(fsm);</div><div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;}</div><div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;</div><div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;</div><div class="line"><a name="l00974"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ada4717cc684d2830bd4f3ea1edea6610">  974</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ada4717cc684d2830bd4f3ea1edea6610">ec_fsm_slave_config_enter_watchdog_divider</a>(</div><div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;        )</div><div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;{</div><div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;</div><div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;    <span class="keywordflow">if</span> (config &amp;&amp; config-&gt;<a class="code" href="structec__slave__config.html#aaa1db6b3136fa60412cbf8d1302c48e9">watchdog_divider</a>) {</div><div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Setting watchdog divider to %u.\n&quot;</span>,</div><div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;                config-&gt;<a class="code" href="structec__slave__config.html#aaa1db6b3136fa60412cbf8d1302c48e9">watchdog_divider</a>);</div><div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;</div><div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0400, 2);</div><div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, config-&gt;<a class="code" href="structec__slave__config.html#aaa1db6b3136fa60412cbf8d1302c48e9">watchdog_divider</a>);</div><div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a62bf6e44b03ddefd7c14106fb5400dd8">ec_fsm_slave_config_state_watchdog_divider</a>;</div><div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765">ec_fsm_slave_config_enter_watchdog</a>(fsm);</div><div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;    }</div><div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;}</div><div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;</div><div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;</div><div class="line"><a name="l00999"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a62bf6e44b03ddefd7c14106fb5400dd8">  999</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a62bf6e44b03ddefd7c14106fb5400dd8">ec_fsm_slave_config_state_watchdog_divider</a>(</div><div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;        )</div><div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;{</div><div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;</div><div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;</div><div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive watchdog divider&quot;</span></div><div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;                <span class="stringliteral">&quot; configuration datagram: &quot;</span>);</div><div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;    }</div><div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;</div><div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed to set watchdog divider: &quot;</span>);</div><div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;    }</div><div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;</div><div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765">ec_fsm_slave_config_enter_watchdog</a>(fsm);</div><div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;}</div><div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;</div><div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;</div><div class="line"><a name="l01031"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765"> 1031</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765">ec_fsm_slave_config_enter_watchdog</a>(</div><div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;        )</div><div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;{</div><div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;</div><div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;    <span class="keywordflow">if</span> (config &amp;&amp; config-&gt;<a class="code" href="structec__slave__config.html#a51e0bd197191abd7a46fd3206575eccb">watchdog_intervals</a>) {</div><div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Setting process data&quot;</span></div><div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;                <span class="stringliteral">&quot; watchdog intervals to %u.\n&quot;</span>, config-&gt;<a class="code" href="structec__slave__config.html#a51e0bd197191abd7a46fd3206575eccb">watchdog_intervals</a>);</div><div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;</div><div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0420, 2);</div><div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;        <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, config-&gt;<a class="code" href="structec__slave__config.html#a51e0bd197191abd7a46fd3206575eccb">watchdog_intervals</a>);</div><div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;</div><div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a8ac8e5402dd89ef793a8ea5de59bb1b4">ec_fsm_slave_config_state_watchdog</a>;</div><div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(fsm);</div><div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;    }</div><div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;}</div><div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;</div><div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;</div><div class="line"><a name="l01058"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a8ac8e5402dd89ef793a8ea5de59bb1b4"> 1058</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a8ac8e5402dd89ef793a8ea5de59bb1b4">ec_fsm_slave_config_state_watchdog</a>(</div><div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;        )</div><div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;{</div><div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;</div><div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;</div><div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive sync manager&quot;</span></div><div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;                <span class="stringliteral">&quot; watchdog configuration datagram: &quot;</span>);</div><div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;    }</div><div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;</div><div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;        <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Failed to set process data&quot;</span></div><div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;                <span class="stringliteral">&quot; watchdog intervals: &quot;</span>);</div><div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;    }</div><div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;</div><div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(fsm);</div><div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;}</div><div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;</div><div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;</div><div class="line"><a name="l01089"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d"> 1089</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a>(</div><div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;        )</div><div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;{</div><div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i, j, offset, num_pdo_syncs;</div><div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;    uint8_t sync_index;</div><div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync;</div><div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;    uint16_t size;</div><div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;</div><div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">mailbox_protocols</a>) {</div><div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;        offset = 2; <span class="comment">// slave has mailboxes</span></div><div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;        offset = 0;</div><div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;    }</div><div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;</div><div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#add5337cd03f09660a3bfe91e4047ed2c">sync_count</a> &lt;= offset) {</div><div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;        <span class="comment">// no PDO sync managers to configure</span></div><div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417">ec_fsm_slave_config_enter_fmmu</a>(fsm);</div><div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;    }</div><div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;</div><div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;    num_pdo_syncs = slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#add5337cd03f09660a3bfe91e4047ed2c">sync_count</a> - offset;</div><div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;</div><div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;    <span class="comment">// configure sync managers for process data</span></div><div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>,</div><div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;            0x0800 + <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * offset,</div><div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;            <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * num_pdo_syncs);</div><div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;</div><div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;    <span class="keywordflow">for</span> (i = 0; i &lt; num_pdo_syncs; i++) {</div><div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;        <span class="keyword">const</span> <a class="code" href="structec__sync__config__t.html">ec_sync_config_t</a> *sync_config;</div><div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;        uint8_t pdo_xfer = 0;</div><div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;        sync_index = i + offset;</div><div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;        sync = &amp;slave-&gt;<a class="code" href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">sii</a>.<a class="code" href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">syncs</a>[sync_index];</div><div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;</div><div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;        <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;            <span class="keyword">const</span> <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *sc = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;            sync_config = &amp;sc-&gt;<a class="code" href="structec__slave__config.html#a28bf292a581f2af8696f41fa333ba0f3">sync_configs</a>[sync_index];</div><div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;            size = <a class="code" href="pdo__list_8c.html#a464a658cdd2744493d9e63d033db4d36">ec_pdo_list_total_size</a>(&amp;sync_config-&gt;<a class="code" href="structec__sync__config__t.html#ae70642198065ad0381dacdfa21fcebaa">pdos</a>);</div><div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;</div><div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;            <span class="comment">// determine, if PDOs shall be transferred via this SM</span></div><div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;            <span class="comment">// inthat case, enable sync manager in every case</span></div><div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;            <span class="keywordflow">for</span> (j = 0; j &lt; sc-&gt;<a class="code" href="structec__slave__config.html#ab34b5531b56f3bb35ea0647f3aa8345a">used_fmmus</a>; j++) {</div><div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;                <span class="keywordflow">if</span> (sc-&gt;<a class="code" href="structec__slave__config.html#a87548f86b5a467a0d2da312571bac4c0">fmmu_configs</a>[j].<a class="code" href="structec__fmmu__config__t.html#aa77d8e55cd99d08955d2566fc2ab4eec">sync_index</a> == sync_index) {</div><div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;                    pdo_xfer = 1;</div><div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;                    <span class="keywordflow">break</span>;</div><div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;                }</div><div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;            }</div><div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;</div><div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;            sync_config = NULL;</div><div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;            size = sync-&gt;<a class="code" href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">default_length</a>;</div><div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;        }</div><div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;</div><div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;        <a class="code" href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a>(sync, sync_index, size, sync_config, pdo_xfer,</div><div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + <a class="code" href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a> * i);</div><div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;    }</div><div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;</div><div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a23076a31e43499d1165ce23873a9bca6">ec_fsm_slave_config_state_pdo_sync</a>;</div><div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;}</div><div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;</div><div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;</div><div class="line"><a name="l01157"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a23076a31e43499d1165ce23873a9bca6"> 1157</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a23076a31e43499d1165ce23873a9bca6">ec_fsm_slave_config_state_pdo_sync</a>(</div><div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;        )</div><div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;{</div><div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;</div><div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;</div><div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive process data sync&quot;</span></div><div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;                <span class="stringliteral">&quot; manager configuration datagram: &quot;</span>);</div><div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;    }</div><div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;</div><div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set process data sync managers: &quot;</span>);</div><div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;    }</div><div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;</div><div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417">ec_fsm_slave_config_enter_fmmu</a>(fsm);</div><div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;}</div><div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;</div><div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;</div><div class="line"><a name="l01190"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417"> 1190</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417">ec_fsm_slave_config_enter_fmmu</a>(</div><div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;        )</div><div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;{</div><div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i;</div><div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__fmmu__config__t.html">ec_fmmu_config_t</a> *fmmu;</div><div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;    <span class="keyword">const</span> <a class="code" href="structec__sync__t.html">ec_sync_t</a> *sync;</div><div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;</div><div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a>(fsm);</div><div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;    }</div><div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;</div><div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;    <span class="keywordflow">if</span> (slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a> &lt; slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#ab34b5531b56f3bb35ea0647f3aa8345a">used_fmmus</a>) {</div><div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Slave has less FMMUs (%u)&quot;</span></div><div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;                <span class="stringliteral">&quot; than requested (%u).\n&quot;</span>, slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a>,</div><div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;                slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#ab34b5531b56f3bb35ea0647f3aa8345a">used_fmmus</a>);</div><div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;    }</div><div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;</div><div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a>) { <span class="comment">// skip FMMU configuration</span></div><div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed">ec_fsm_slave_config_enter_dc_cycle</a>(fsm);</div><div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;    }</div><div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;</div><div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;    <span class="comment">// configure FMMUs</span></div><div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>,</div><div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;                     0x0600, <a class="code" href="globals_8h.html#a1e0360410ca3cc2357e27b566951d52d">EC_FMMU_PAGE_SIZE</a> * slave-&gt;<a class="code" href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">base_fmmu_count</a>);</div><div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;    <a class="code" href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a>(datagram);</div><div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;    <span class="keywordflow">for</span> (i = 0; i &lt; slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#ab34b5531b56f3bb35ea0647f3aa8345a">used_fmmus</a>; i++) {</div><div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;        fmmu = &amp;slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a87548f86b5a467a0d2da312571bac4c0">fmmu_configs</a>[i];</div><div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;        <span class="keywordflow">if</span> (!(sync = <a class="code" href="slave_8c.html#a0a1f1035888d33dcd86a5ca5a5f3acc2">ec_slave_get_sync</a>(slave, fmmu-&gt;<a class="code" href="structec__fmmu__config__t.html#aa77d8e55cd99d08955d2566fc2ab4eec">sync_index</a>))) {</div><div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;            <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to determine PDO sync manager&quot;</span></div><div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;                    <span class="stringliteral">&quot; for FMMU!\n&quot;</span>);</div><div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;        }</div><div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;        <a class="code" href="fmmu__config_8c.html#a948cbd8f8d914b43dcc2a97c99507dab">ec_fmmu_config_page</a>(fmmu, sync,</div><div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;                datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + <a class="code" href="globals_8h.html#a1e0360410ca3cc2357e27b566951d52d">EC_FMMU_PAGE_SIZE</a> * i);</div><div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160;    }</div><div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;</div><div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a879e6e3cf0da1700a80deea5f25f673f">ec_fsm_slave_config_state_fmmu</a>;</div><div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;}</div><div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;</div><div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;</div><div class="line"><a name="l01244"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a879e6e3cf0da1700a80deea5f25f673f"> 1244</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a879e6e3cf0da1700a80deea5f25f673f">ec_fsm_slave_config_state_fmmu</a>(</div><div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;        )</div><div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;{</div><div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;</div><div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;</div><div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive FMMUs datagram: &quot;</span>);</div><div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;    }</div><div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;</div><div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set FMMUs: &quot;</span>);</div><div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;    }</div><div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;</div><div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed">ec_fsm_slave_config_enter_dc_cycle</a>(fsm);</div><div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;}</div><div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;</div><div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;</div><div class="line"><a name="l01276"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed"> 1276</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed">ec_fsm_slave_config_enter_dc_cycle</a>(</div><div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;        )</div><div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;{</div><div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;</div><div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;    <span class="keywordflow">if</span> (!config) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;    }</div><div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;</div><div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;    <span class="keywordflow">if</span> (config-&gt;<a class="code" href="structec__slave__config.html#a444000aa859f4830053b65518fc65233">dc_assign_activate</a>) {</div><div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;        <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a2b02f5e40a79f9b6213dde898a10b873">base_dc_supported</a> || !slave-&gt;<a class="code" href="structec__slave.html#a65fba9aad1f196c6c43ba7dceecc15dd">has_dc_system_time</a>) {</div><div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;            <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Slave seems not to support&quot;</span></div><div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160;                    <span class="stringliteral">&quot; distributed clocks!\n&quot;</span>);</div><div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;        }</div><div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;</div><div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Setting DC cycle times to %u / %u.\n&quot;</span>,</div><div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160;                config-&gt;<a class="code" href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">dc_sync</a>[0].<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>, config-&gt;<a class="code" href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">dc_sync</a>[1].<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>);</div><div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;</div><div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;        <span class="comment">// set DC cycle times</span></div><div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;        <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x09A0, 8);</div><div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga9558cb79cc4015da0a551704649d1e80">EC_WRITE_U32</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, config-&gt;<a class="code" href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">dc_sync</a>[0].<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>);</div><div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;        <a class="code" href="group__ApplicationInterface.html#ga9558cb79cc4015da0a551704649d1e80">EC_WRITE_U32</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a> + 4, config-&gt;<a class="code" href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">dc_sync</a>[1].<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>);</div><div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#aa0e41535e16539525584f3e0073d5c3b">ec_fsm_slave_config_state_dc_cycle</a>;</div><div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;        <span class="comment">// DC are unused</span></div><div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a>(fsm);</div><div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;    }</div><div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;}</div><div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;</div><div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;</div><div class="line"><a name="l01314"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#aa0e41535e16539525584f3e0073d5c3b"> 1314</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#aa0e41535e16539525584f3e0073d5c3b">ec_fsm_slave_config_state_dc_cycle</a>(</div><div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;        )</div><div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;{</div><div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;</div><div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;    <span class="keywordflow">if</span> (!config) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;    }</div><div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160;</div><div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;</div><div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive DC cycle times datagram: &quot;</span>);</div><div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160;    }</div><div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;</div><div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set DC cycle times: &quot;</span>);</div><div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;    }</div><div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;</div><div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Checking for synchrony.\n&quot;</span>);</div><div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;</div><div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">jiffies_start</a> = jiffies;</div><div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160;    <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x092c, 4);</div><div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ad5a3b1f715cac3cdb65d6e949a5d6080">ec_fsm_slave_config_state_dc_sync_check</a>;</div><div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;}</div><div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;</div><div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;</div><div class="line"><a name="l01357"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ad5a3b1f715cac3cdb65d6e949a5d6080"> 1357</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad5a3b1f715cac3cdb65d6e949a5d6080">ec_fsm_slave_config_state_dc_sync_check</a>(</div><div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;        )</div><div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;{</div><div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;    <a class="code" href="structec__master.html">ec_master_t</a> *master = slave-&gt;<a class="code" href="structec__slave.html#ae3ca485627d212610814bf4e0130eddd">master</a>;</div><div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;    uint32_t abs_sync_diff;</div><div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> diff_ms;</div><div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;    <a class="code" href="structec__sync__signal__t.html">ec_sync_signal_t</a> *sync0 = &amp;config-&gt;<a class="code" href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">dc_sync</a>[0];</div><div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;    u64 start_time;</div><div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;</div><div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160;    <span class="keywordflow">if</span> (!config) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;    }</div><div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;</div><div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;</div><div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive DC sync check datagram: &quot;</span>);</div><div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;    }</div><div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;</div><div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to check DC synchrony: &quot;</span>);</div><div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160;    }</div><div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;</div><div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160;    abs_sync_diff = <a class="code" href="group__ApplicationInterface.html#gaca608a732bed6f11ddfdf073e8c3a80d">EC_READ_U32</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>) &amp; 0x7fffffff;</div><div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160;    diff_ms = (datagram-&gt;<a class="code" href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">jiffies_received</a> - fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">jiffies_start</a>) * 1000 / HZ;</div><div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;</div><div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;    <span class="keywordflow">if</span> (abs_sync_diff &gt; <a class="code" href="fsm__slave__config_8c.html#aef4451a8493a8ee8d4178870fba218fd">EC_DC_MAX_SYNC_DIFF_NS</a>) {</div><div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;</div><div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;        <span class="keywordflow">if</span> (diff_ms &gt;= <a class="code" href="fsm__slave__config_8c.html#aa507b566eace93ee237a040d67a90430">EC_DC_SYNC_WAIT_MS</a>) {</div><div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;            <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;Slave did not sync after %lu ms.\n&quot;</span>,</div><div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;                    diff_ms);</div><div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Sync after %4lu ms: %10u ns\n&quot;</span>,</div><div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;                    diff_ms, abs_sync_diff);</div><div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;</div><div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;            <span class="comment">// check synchrony again</span></div><div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;            <a class="code" href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x092c, 4);</div><div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;        }</div><div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;%u ns difference after %lu ms.\n&quot;</span>,</div><div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;                abs_sync_diff, diff_ms);</div><div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;    }</div><div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;</div><div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;    <span class="comment">// set DC start time</span></div><div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;    start_time = master-&gt;<a class="code" href="structec__master.html#a499bcb3d75277ce4415f6df3de21b7d0">app_time</a> + <a class="code" href="fsm__slave__config_8c.html#ae3ebe26a0aba621a2fa21a8c216ef4bb">EC_DC_START_OFFSET</a>; <span class="comment">// now + X ns</span></div><div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;    <span class="comment">// FIXME use slave&#39;s local system time here?</span></div><div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;</div><div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;    <span class="keywordflow">if</span> (sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>) {</div><div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160;        <span class="comment">// find correct phase</span></div><div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;        <span class="keywordflow">if</span> (master-&gt;<a class="code" href="structec__master.html#aafac97e86bc13e578d3ff0030c8ce7eb">has_app_time</a>) {</div><div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;            u64 diff, start;</div><div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;            u32 remainder;</div><div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160;</div><div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;            diff = start_time - master-&gt;<a class="code" href="structec__master.html#a76d60bf657e362358ef24cb56e12771a">app_start_time</a>;</div><div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160;            remainder = do_div(diff, sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>);</div><div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;</div><div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;            start = start_time +</div><div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;                sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a> - remainder + sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a75c1a27b0421473e05bf737fd0d38368">shift_time</a>;</div><div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;</div><div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;app_start_time=%llu\n&quot;</span>,</div><div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;                    master-&gt;<a class="code" href="structec__master.html#a76d60bf657e362358ef24cb56e12771a">app_start_time</a>);</div><div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;      app_time=%llu\n&quot;</span>, master-&gt;<a class="code" href="structec__master.html#a499bcb3d75277ce4415f6df3de21b7d0">app_time</a>);</div><div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;    start_time=%llu\n&quot;</span>, start_time);</div><div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;    cycle_time=%u\n&quot;</span>, sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">cycle_time</a>);</div><div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;    shift_time=%i\n&quot;</span>, sync0-&gt;<a class="code" href="structec__sync__signal__t.html#a75c1a27b0421473e05bf737fd0d38368">shift_time</a>);</div><div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;     remainder=%u\n&quot;</span>, remainder);</div><div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;            <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;         start=%llu\n&quot;</span>, start);</div><div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;            start_time = start;</div><div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;        } <span class="keywordflow">else</span> {</div><div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;            <a class="code" href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a>(slave, <span class="stringliteral">&quot;No application time supplied.&quot;</span></div><div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160;                    <span class="stringliteral">&quot; Cyclic start time will not be in phase.\n&quot;</span>);</div><div class="line"><a name="l01443"></a><span class="lineno"> 1443</span>&#160;        }</div><div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;    }</div><div class="line"><a name="l01445"></a><span class="lineno"> 1445</span>&#160;</div><div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Setting DC cyclic operation&quot;</span></div><div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;            <span class="stringliteral">&quot; start time to %llu.\n&quot;</span>, start_time);</div><div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;</div><div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0990, 8);</div><div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gac2186e4bce70f3ba61c76fe5d1ddd2a6">EC_WRITE_U64</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, start_time);</div><div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ad651366e02dfe226542b571eb5b459b5">ec_fsm_slave_config_state_dc_start</a>;</div><div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160;}</div><div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160;</div><div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;</div><div class="line"><a name="l01459"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ad651366e02dfe226542b571eb5b459b5"> 1459</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ad651366e02dfe226542b571eb5b459b5">ec_fsm_slave_config_state_dc_start</a>(</div><div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;        )</div><div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;{</div><div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;    <a class="code" href="structec__slave__config.html">ec_slave_config_t</a> *config = slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>;</div><div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160;</div><div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160;    <span class="keywordflow">if</span> (!config) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;    }</div><div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160;</div><div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160;</div><div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive DC start time datagram: &quot;</span>);</div><div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01480"></a><span class="lineno"> 1480</span>&#160;    }</div><div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160;</div><div class="line"><a name="l01482"></a><span class="lineno"> 1482</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to set DC start time: &quot;</span>);</div><div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160;    }</div><div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;</div><div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Setting DC AssignActivate to 0x%04x.\n&quot;</span>,</div><div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160;            config-&gt;<a class="code" href="structec__slave__config.html#a444000aa859f4830053b65518fc65233">dc_assign_activate</a>);</div><div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;</div><div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160;    <span class="comment">// assign sync unit to EtherCAT or PDI</span></div><div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160;    <a class="code" href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a>(datagram, slave-&gt;<a class="code" href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">station_address</a>, 0x0980, 2);</div><div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;    <a class="code" href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a>(datagram-&gt;<a class="code" href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">data</a>, config-&gt;<a class="code" href="structec__slave__config.html#a444000aa859f4830053b65518fc65233">dc_assign_activate</a>);</div><div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a> = <a class="code" href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a>;</div><div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a4f251cd33ffedc3dd47b10c058dbcd4a">ec_fsm_slave_config_state_dc_assign</a>;</div><div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;}</div><div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;</div><div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160;</div><div class="line"><a name="l01504"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a4f251cd33ffedc3dd47b10c058dbcd4a"> 1504</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a4f251cd33ffedc3dd47b10c058dbcd4a">ec_fsm_slave_config_state_dc_assign</a>(</div><div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;        )</div><div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160;{</div><div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;    <a class="code" href="structec__datagram__t.html">ec_datagram_t</a> *datagram = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>;</div><div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;</div><div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> == <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a> &amp;&amp; fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">retries</a>--)</div><div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;</div><div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">state</a> != <a class="code" href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a>) {</div><div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to receive DC activation datagram: &quot;</span>);</div><div class="line"><a name="l01517"></a><span class="lineno"> 1517</span>&#160;        <a class="code" href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a>(datagram);</div><div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160;    }</div><div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160;</div><div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;    <span class="keywordflow">if</span> (datagram-&gt;<a class="code" href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">working_counter</a> != 1) {</div><div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;        slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;Failed to activate DC: &quot;</span>);</div><div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;        <a class="code" href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a>(datagram);</div><div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160;    }</div><div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160;</div><div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a>(fsm);</div><div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;}</div><div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160;</div><div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;</div><div class="line"><a name="l01536"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4"> 1536</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a>(</div><div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160;        )</div><div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;{</div><div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a53d7a3f43b0c377d53176178e9ad3f7d">ec_fsm_slave_config_state_safeop</a>;</div><div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;    <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a42a5127410509dad07baf40ba938ecf4">EC_SLAVE_STATE_SAFEOP</a>);</div><div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160;    <a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>); <span class="comment">// execute immediately</span></div><div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;}</div><div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;</div><div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;</div><div class="line"><a name="l01549"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a53d7a3f43b0c377d53176178e9ad3f7d"> 1549</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a53d7a3f43b0c377d53176178e9ad3f7d">ec_fsm_slave_config_state_safeop</a>(</div><div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160;        )</div><div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;{</div><div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160;</div><div class="line"><a name="l01555"></a><span class="lineno"> 1555</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) <span class="keywordflow">return</span>;</div><div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160;</div><div class="line"><a name="l01557"></a><span class="lineno"> 1557</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) {</div><div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;        <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a>)</div><div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160;    }</div><div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;</div><div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;    <span class="comment">// slave is now in SAFEOP</span></div><div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160;</div><div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Now in SAFEOP.\n&quot;</span>);</div><div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160;</div><div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;    <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">current_state</a> == fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">requested_state</a>) {</div><div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>; <span class="comment">// successful</span></div><div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;        <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Finished configuration.\n&quot;</span>);</div><div class="line"><a name="l01571"></a><span class="lineno"> 1571</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01572"></a><span class="lineno"> 1572</span>&#160;    }</div><div class="line"><a name="l01573"></a><span class="lineno"> 1573</span>&#160;</div><div class="line"><a name="l01574"></a><span class="lineno"> 1574</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#adf4f1684a79998d257bbb6b22a0ba626">ec_fsm_slave_config_enter_soe_conf_safeop</a>(fsm);</div><div class="line"><a name="l01575"></a><span class="lineno"> 1575</span>&#160;}</div><div class="line"><a name="l01576"></a><span class="lineno"> 1576</span>&#160;</div><div class="line"><a name="l01577"></a><span class="lineno"> 1577</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01578"></a><span class="lineno"> 1578</span>&#160;</div><div class="line"><a name="l01581"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#adf4f1684a79998d257bbb6b22a0ba626"> 1581</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#adf4f1684a79998d257bbb6b22a0ba626">ec_fsm_slave_config_enter_soe_conf_safeop</a>(</div><div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160;        )</div><div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;{</div><div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;    <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a> *req;</div><div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;</div><div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;    <span class="keywordflow">if</span> (!slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) {</div><div class="line"><a name="l01589"></a><span class="lineno"> 1589</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a>(fsm);</div><div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;    }</div><div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160;</div><div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;    list_for_each_entry(req, &amp;slave-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a9bfab1eba98284fcaa21079ea1700188">soe_configs</a>, list) {</div><div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;        <span class="keywordflow">if</span> (req-&gt;<a class="code" href="structec__soe__request__t.html#aa421217a4fc552dc2411b07010a4520a">al_state</a> == <a class="code" href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaafb41d7398780a3f09ba2c19d624b2668">EC_AL_STATE_SAFEOP</a>) {</div><div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;            <span class="comment">// start SoE configuration</span></div><div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#afb5e783f09530f52f9ee6130f717bd69">ec_fsm_slave_config_state_soe_conf_safeop</a>;</div><div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160;            fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a> = req;</div><div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;            <a class="code" href="soe__request_8c.html#a0aed2b2f97cf1436f7f778ccfb8c5553">ec_soe_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>);</div><div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160;            <a class="code" href="soe__request_8c.html#a02f5e4b5047b8722d5df2096860807bb">ec_soe_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;            <a class="code" href="fsm__soe_8c.html#a34c4cc4d7d8988a5786599d07d52aebd">ec_fsm_soe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>,</div><div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;                    &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;            <a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>);</div><div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;        }</div><div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;    }</div><div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160;</div><div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;    <span class="comment">// No SoE configuration to be applied in SAFEOP</span></div><div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a>(fsm);</div><div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;}</div><div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160;</div><div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160;</div><div class="line"><a name="l01615"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#afb5e783f09530f52f9ee6130f717bd69"> 1615</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#afb5e783f09530f52f9ee6130f717bd69">ec_fsm_slave_config_state_soe_conf_safeop</a>(</div><div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;        )</div><div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;{</div><div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;</div><div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>)) {</div><div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;    }</div><div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160;</div><div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__soe_8c.html#abe5fc037034ee0591047a678d3d52e36">ec_fsm_soe_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>)) {</div><div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;        <a class="code" href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a>(slave, <span class="stringliteral">&quot;SoE configuration failed.\n&quot;</span>);</div><div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;    }</div><div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160;</div><div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160;    <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>) { <span class="comment">// config removed in the meantime</span></div><div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160;        <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(fsm);</div><div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;    }</div><div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;</div><div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;    <span class="comment">// Another IDN to configure in SAFEOP?</span></div><div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160;    <span class="keywordflow">while</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#a07cafa8f400f95ced4f6037629c979f6">list</a>.next != &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>-&gt;<a class="code" href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">config</a>-&gt;<a class="code" href="structec__slave__config.html#a9bfab1eba98284fcaa21079ea1700188">soe_configs</a>) {</div><div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a> = list_entry(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#a07cafa8f400f95ced4f6037629c979f6">list</a>.next,</div><div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160;                <a class="code" href="structec__soe__request__t.html">ec_soe_request_t</a>, list);</div><div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;        <span class="keywordflow">if</span> (fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>-&gt;<a class="code" href="structec__soe__request__t.html#aa421217a4fc552dc2411b07010a4520a">al_state</a> == <a class="code" href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaafb41d7398780a3f09ba2c19d624b2668">EC_AL_STATE_SAFEOP</a>) {</div><div class="line"><a name="l01642"></a><span class="lineno"> 1642</span>&#160;            <a class="code" href="soe__request_8c.html#a0aed2b2f97cf1436f7f778ccfb8c5553">ec_soe_request_copy</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">soe_request</a>);</div><div class="line"><a name="l01643"></a><span class="lineno"> 1643</span>&#160;            <a class="code" href="soe__request_8c.html#a02f5e4b5047b8722d5df2096860807bb">ec_soe_request_write</a>(&amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l01644"></a><span class="lineno"> 1644</span>&#160;            <a class="code" href="fsm__soe_8c.html#a34c4cc4d7d8988a5786599d07d52aebd">ec_fsm_soe_transfer</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>,</div><div class="line"><a name="l01645"></a><span class="lineno"> 1645</span>&#160;                    &amp;fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">soe_request_copy</a>);</div><div class="line"><a name="l01646"></a><span class="lineno"> 1646</span>&#160;            <a class="code" href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">fsm_soe</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">datagram</a>);</div><div class="line"><a name="l01647"></a><span class="lineno"> 1647</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l01648"></a><span class="lineno"> 1648</span>&#160;        }</div><div class="line"><a name="l01649"></a><span class="lineno"> 1649</span>&#160;    }</div><div class="line"><a name="l01650"></a><span class="lineno"> 1650</span>&#160;</div><div class="line"><a name="l01651"></a><span class="lineno"> 1651</span>&#160;    <span class="comment">// All SAFEOP IDNs are now configured.</span></div><div class="line"><a name="l01652"></a><span class="lineno"> 1652</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a>(fsm);</div><div class="line"><a name="l01653"></a><span class="lineno"> 1653</span>&#160;}</div><div class="line"><a name="l01654"></a><span class="lineno"> 1654</span>&#160;</div><div class="line"><a name="l01655"></a><span class="lineno"> 1655</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01656"></a><span class="lineno"> 1656</span>&#160;</div><div class="line"><a name="l01659"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8"> 1659</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a>(</div><div class="line"><a name="l01660"></a><span class="lineno"> 1660</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01661"></a><span class="lineno"> 1661</span>&#160;        )</div><div class="line"><a name="l01662"></a><span class="lineno"> 1662</span>&#160;{</div><div class="line"><a name="l01663"></a><span class="lineno"> 1663</span>&#160;    <span class="comment">// set state to OP</span></div><div class="line"><a name="l01664"></a><span class="lineno"> 1664</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#afd878d760f1d15be33a19791d174a0c8">ec_fsm_slave_config_state_op</a>;</div><div class="line"><a name="l01665"></a><span class="lineno"> 1665</span>&#160;    <a class="code" href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>, fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, <a class="code" href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a321dab0f12d522422d158b8cf64351f8">EC_SLAVE_STATE_OP</a>);</div><div class="line"><a name="l01666"></a><span class="lineno"> 1666</span>&#160;    <a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>); <span class="comment">// execute immediately</span></div><div class="line"><a name="l01667"></a><span class="lineno"> 1667</span>&#160;}</div><div class="line"><a name="l01668"></a><span class="lineno"> 1668</span>&#160;</div><div class="line"><a name="l01669"></a><span class="lineno"> 1669</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01670"></a><span class="lineno"> 1670</span>&#160;</div><div class="line"><a name="l01673"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#afd878d760f1d15be33a19791d174a0c8"> 1673</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#afd878d760f1d15be33a19791d174a0c8">ec_fsm_slave_config_state_op</a>(</div><div class="line"><a name="l01674"></a><span class="lineno"> 1674</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01675"></a><span class="lineno"> 1675</span>&#160;        )</div><div class="line"><a name="l01676"></a><span class="lineno"> 1676</span>&#160;{</div><div class="line"><a name="l01677"></a><span class="lineno"> 1677</span>&#160;    <a class="code" href="structec__slave.html">ec_slave_t</a> *slave = fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>;</div><div class="line"><a name="l01678"></a><span class="lineno"> 1678</span>&#160;</div><div class="line"><a name="l01679"></a><span class="lineno"> 1679</span>&#160;    <span class="keywordflow">if</span> (<a class="code" href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) <span class="keywordflow">return</span>;</div><div class="line"><a name="l01680"></a><span class="lineno"> 1680</span>&#160;</div><div class="line"><a name="l01681"></a><span class="lineno"> 1681</span>&#160;    <span class="keywordflow">if</span> (!<a class="code" href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>)) {</div><div class="line"><a name="l01682"></a><span class="lineno"> 1682</span>&#160;        <span class="keywordflow">if</span> (!fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">fsm_change</a>-&gt;<a class="code" href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">spontaneous_change</a>)</div><div class="line"><a name="l01683"></a><span class="lineno"> 1683</span>&#160;            slave-&gt;<a class="code" href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">error_flag</a> = 1;</div><div class="line"><a name="l01684"></a><span class="lineno"> 1684</span>&#160;        fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>;</div><div class="line"><a name="l01685"></a><span class="lineno"> 1685</span>&#160;        <span class="keywordflow">return</span>;</div><div class="line"><a name="l01686"></a><span class="lineno"> 1686</span>&#160;    }</div><div class="line"><a name="l01687"></a><span class="lineno"> 1687</span>&#160;</div><div class="line"><a name="l01688"></a><span class="lineno"> 1688</span>&#160;    <span class="comment">// slave is now in OP</span></div><div class="line"><a name="l01689"></a><span class="lineno"> 1689</span>&#160;</div><div class="line"><a name="l01690"></a><span class="lineno"> 1690</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(slave, 1, <span class="stringliteral">&quot;Now in OP. Finished configuration.\n&quot;</span>);</div><div class="line"><a name="l01691"></a><span class="lineno"> 1691</span>&#160;</div><div class="line"><a name="l01692"></a><span class="lineno"> 1692</span>&#160;    fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">state</a> = <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>; <span class="comment">// successful</span></div><div class="line"><a name="l01693"></a><span class="lineno"> 1693</span>&#160;}</div><div class="line"><a name="l01694"></a><span class="lineno"> 1694</span>&#160;</div><div class="line"><a name="l01695"></a><span class="lineno"> 1695</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01696"></a><span class="lineno"> 1696</span>&#160;</div><div class="line"><a name="l01699"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9"> 1699</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a>(</div><div class="line"><a name="l01700"></a><span class="lineno"> 1700</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01701"></a><span class="lineno"> 1701</span>&#160;        )</div><div class="line"><a name="l01702"></a><span class="lineno"> 1702</span>&#160;{</div><div class="line"><a name="l01703"></a><span class="lineno"> 1703</span>&#160;    <a class="code" href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a>(fsm-&gt;<a class="code" href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">slave</a>, 1, <span class="stringliteral">&quot;Slave configuration detached during &quot;</span></div><div class="line"><a name="l01704"></a><span class="lineno"> 1704</span>&#160;            <span class="stringliteral">&quot;configuration. Reconfiguring.&quot;</span>);</div><div class="line"><a name="l01705"></a><span class="lineno"> 1705</span>&#160;</div><div class="line"><a name="l01706"></a><span class="lineno"> 1706</span>&#160;    <a class="code" href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">ec_fsm_slave_config_enter_init</a>(fsm); <span class="comment">// reconfigure</span></div><div class="line"><a name="l01707"></a><span class="lineno"> 1707</span>&#160;}</div><div class="line"><a name="l01708"></a><span class="lineno"> 1708</span>&#160;</div><div class="line"><a name="l01709"></a><span class="lineno"> 1709</span>&#160;<span class="comment">/******************************************************************************</span></div><div class="line"><a name="l01710"></a><span class="lineno"> 1710</span>&#160;<span class="comment"> *  Common state functions</span></div><div class="line"><a name="l01711"></a><span class="lineno"> 1711</span>&#160;<span class="comment"> *****************************************************************************/</span></div><div class="line"><a name="l01712"></a><span class="lineno"> 1712</span>&#160;</div><div class="line"><a name="l01715"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab"> 1715</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a>(</div><div class="line"><a name="l01716"></a><span class="lineno"> 1716</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01717"></a><span class="lineno"> 1717</span>&#160;        )</div><div class="line"><a name="l01718"></a><span class="lineno"> 1718</span>&#160;{</div><div class="line"><a name="l01719"></a><span class="lineno"> 1719</span>&#160;}</div><div class="line"><a name="l01720"></a><span class="lineno"> 1720</span>&#160;</div><div class="line"><a name="l01721"></a><span class="lineno"> 1721</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="line"><a name="l01722"></a><span class="lineno"> 1722</span>&#160;</div><div class="line"><a name="l01725"></a><span class="lineno"><a class="line" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b"> 1725</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a>(</div><div class="line"><a name="l01726"></a><span class="lineno"> 1726</span>&#160;        <a class="code" href="structec__fsm__slave__config.html">ec_fsm_slave_config_t</a> *fsm </div><div class="line"><a name="l01727"></a><span class="lineno"> 1727</span>&#160;        )</div><div class="line"><a name="l01728"></a><span class="lineno"> 1728</span>&#160;{</div><div class="line"><a name="l01729"></a><span class="lineno"> 1729</span>&#160;}</div><div class="line"><a name="l01730"></a><span class="lineno"> 1730</span>&#160;</div><div class="line"><a name="l01731"></a><span class="lineno"> 1731</span>&#160;<span class="comment">/*****************************************************************************/</span></div><div class="ttc" id="globals_8h_html_a23a5e3d7f269f14bea7017438c72d208"><div class="ttname"><a href="globals_8h.html#a23a5e3d7f269f14bea7017438c72d208">EC_FSM_RETRIES</a></div><div class="ttdeci">#define EC_FSM_RETRIES</div><div class="ttdoc">Number of state machine retries on datagram timeout. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00059">globals.h:59</a></div></div>
<div class="ttc" id="structec__fsm__soe_html"><div class="ttname"><a href="structec__fsm__soe.html">ec_fsm_soe</a></div><div class="ttdoc">Finite state machines for the Sercos over EtherCAT protocol. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8h_source.html#l00051">fsm_soe.h:51</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a640ba704d00d50c33e930b6c641b55d7"><div class="ttname"><a href="structec__datagram__t.html#a640ba704d00d50c33e930b6c641b55d7">ec_datagram_t::jiffies_sent</a></div><div class="ttdeci">unsigned long jiffies_sent</div><div class="ttdoc">Jiffies, when the datagram was sent. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00104">datagram.h:104</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga18c064146090e45d36c05876c546caeaaf31a3511a6004d7909a71911a289681f"><div class="ttname"><a href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaaf31a3511a6004d7909a71911a289681f">EC_AL_STATE_PREOP</a></div><div class="ttdoc">Pre-operational. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00530">ecrt.h:530</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_af700291b7a95c29d9485d78a53ca4456"><div class="ttname"><a href="fsm__slave__config_8c.html#af700291b7a95c29d9485d78a53ca4456">ec_fsm_slave_config_state_boot_preop</a></div><div class="ttdeci">void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: BOOT/PREOP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00701">fsm_slave_config.c:701</a></div></div>
<div class="ttc" id="structec__slave__config_html_aa980b60539d3818999fe9ba116851e1c"><div class="ttname"><a href="structec__slave__config.html#aa980b60539d3818999fe9ba116851e1c">ec_slave_config::sdo_configs</a></div><div class="ttdeci">struct list_head sdo_configs</div><div class="ttdoc">List of SDO configurations. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00143">slave_config.h:143</a></div></div>
<div class="ttc" id="structec__sii__t_html_abdcbea468841ca94492bae78207b1282"><div class="ttname"><a href="structec__sii__t.html#abdcbea468841ca94492bae78207b1282">ec_sii_t::boot_rx_mailbox_offset</a></div><div class="ttdeci">uint16_t boot_rx_mailbox_offset</div><div class="ttdoc">Bootstrap receive mailbox address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00139">slave.h:139</a></div></div>
<div class="ttc" id="globals_8h_html_a094d565a4898d8ed65222fcd6f96f6fb"><div class="ttname"><a href="globals_8h.html#a094d565a4898d8ed65222fcd6f96f6fb">EC_SYNC_PAGE_SIZE</a></div><div class="ttdeci">#define EC_SYNC_PAGE_SIZE</div><div class="ttdoc">Size of a sync manager configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00101">globals.h:101</a></div></div>
<div class="ttc" id="structec__slave_html_a081433f5a30f9352fbc4363093ae1e16"><div class="ttname"><a href="structec__slave.html#a081433f5a30f9352fbc4363093ae1e16">ec_slave::sii</a></div><div class="ttdeci">ec_sii_t sii</div><div class="ttdoc">Extracted SII data. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00223">slave.h:223</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_ad90d47e84f43b419017a9db1fc75c4cf"><div class="ttname"><a href="fsm__pdo_8c.html#ad90d47e84f43b419017a9db1fc75c4cf">ec_fsm_pdo_exec</a></div><div class="ttdeci">int ec_fsm_pdo_exec(ec_fsm_pdo_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00164">fsm_pdo.c:164</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a23969958ec22371a9b35cdb99e826885"><div class="ttname"><a href="fsm__slave__config_8c.html#a23969958ec22371a9b35cdb99e826885">ec_fsm_slave_config_start</a></div><div class="ttdeci">void ec_fsm_slave_config_start(ec_fsm_slave_config_t *fsm, ec_slave_t *slave)</div><div class="ttdoc">Start slave configuration state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00156">fsm_slave_config.c:156</a></div></div>
<div class="ttc" id="structec__fsm__change_html_a67f934c317235fc5ea71ee128f6a979b"><div class="ttname"><a href="structec__fsm__change.html#a67f934c317235fc5ea71ee128f6a979b">ec_fsm_change::spontaneous_change</a></div><div class="ttdeci">uint8_t spontaneous_change</div><div class="ttdoc">spontaneous state change detected </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00076">fsm_change.h:76</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_af76083b207aff980b3dcc95799956765"><div class="ttname"><a href="fsm__slave__config_8c.html#af76083b207aff980b3dcc95799956765">ec_fsm_slave_config_enter_watchdog</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *)</div><div class="ttdoc">WATCHDOG entry function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01031">fsm_slave_config.c:1031</a></div></div>
<div class="ttc" id="structec__slave_html_a79ecaa06844f2b8bf2d1b4d9bfae9207"><div class="ttname"><a href="structec__slave.html#a79ecaa06844f2b8bf2d1b4d9bfae9207">ec_slave::configured_tx_mailbox_size</a></div><div class="ttdeci">uint16_t configured_tx_mailbox_size</div><div class="ttdoc">Configured send mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00201">slave.h:201</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a26ea56ff1e196cb0e02fa94e3aaaca39"><div class="ttname"><a href="fsm__slave__config_8c.html#a26ea56ff1e196cb0e02fa94e3aaaca39">ec_fsm_slave_config_state_init</a></div><div class="ttdeci">void ec_fsm_slave_config_state_init(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: INIT. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00244">fsm_slave_config.c:244</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a53d7a3f43b0c377d53176178e9ad3f7d"><div class="ttname"><a href="fsm__slave__config_8c.html#a53d7a3f43b0c377d53176178e9ad3f7d">ec_fsm_slave_config_state_safeop</a></div><div class="ttdeci">void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: SAFEOP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01549">fsm_slave_config.c:1549</a></div></div>
<div class="ttc" id="structec__fmmu__config__t_html"><div class="ttname"><a href="structec__fmmu__config__t.html">ec_fmmu_config_t</a></div><div class="ttdoc">FMMU configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fmmu__config_8h_source.html#l00046">fmmu_config.h:46</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a1fbb50787df5cc82d434eff437d6e000"><div class="ttname"><a href="structec__fsm__slave__config.html#a1fbb50787df5cc82d434eff437d6e000">ec_fsm_slave_config::request</a></div><div class="ttdeci">ec_sdo_request_t * request</div><div class="ttdoc">SDO request for SDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00065">fsm_slave_config.h:65</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a60a3aefc3121fbcd3eed49c61c209ff9"><div class="ttname"><a href="fsm__slave__config_8c.html#a60a3aefc3121fbcd3eed49c61c209ff9">ec_fsm_slave_config_reconfigure</a></div><div class="ttdeci">void ec_fsm_slave_config_reconfigure(ec_fsm_slave_config_t *)</div><div class="ttdoc">Reconfigure the slave starting at INIT. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01699">fsm_slave_config.c:1699</a></div></div>
<div class="ttc" id="structec__master_html_a76d60bf657e362358ef24cb56e12771a"><div class="ttname"><a href="structec__master.html#a76d60bf657e362358ef24cb56e12771a">ec_master::app_start_time</a></div><div class="ttdeci">u64 app_start_time</div><div class="ttdoc">Application start time. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00239">master.h:239</a></div></div>
<div class="ttc" id="structec__soe__request__t_html_a07cafa8f400f95ced4f6037629c979f6"><div class="ttname"><a href="structec__soe__request__t.html#a07cafa8f400f95ced4f6037629c979f6">ec_soe_request_t::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8h_source.html#l00049">soe_request.h:49</a></div></div>
<div class="ttc" id="slave_8h_html_a349fb5dcd0bac7fc2324d3da89aa4751"><div class="ttname"><a href="slave_8h.html#a349fb5dcd0bac7fc2324d3da89aa4751">EC_SLAVE_DBG</a></div><div class="ttdeci">#define EC_SLAVE_DBG(slave, level, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific debug messages to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00106">slave.h:106</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_a45673c0ffcb4f251696b30fc86288253"><div class="ttname"><a href="fsm__pdo_8c.html#a45673c0ffcb4f251696b30fc86288253">ec_fsm_pdo_start_configuration</a></div><div class="ttdeci">void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *fsm, ec_slave_t *slave)</div><div class="ttdoc">Start writing the PDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00132">fsm_pdo.c:132</a></div></div>
<div class="ttc" id="structec__sync__signal__t_html_a75c1a27b0421473e05bf737fd0d38368"><div class="ttname"><a href="structec__sync__signal__t.html#a75c1a27b0421473e05bf737fd0d38368">ec_sync_signal_t::shift_time</a></div><div class="ttdeci">int32_t shift_time</div><div class="ttdoc">Shift time [ns]. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00185">globals.h:185</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0a321dab0f12d522422d158b8cf64351f8"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a321dab0f12d522422d158b8cf64351f8">EC_SLAVE_STATE_OP</a></div><div class="ttdoc">OP (mailbox communication and input/output update) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00138">globals.h:138</a></div></div>
<div class="ttc" id="structec__slave_html_a365e2116bd54803112c56cb3a98970cb"><div class="ttname"><a href="structec__slave.html#a365e2116bd54803112c56cb3a98970cb">ec_slave::configured_tx_mailbox_offset</a></div><div class="ttdeci">uint16_t configured_tx_mailbox_offset</div><div class="ttdoc">Configured send mailbox offset. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00199">slave.h:199</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aa0e41535e16539525584f3e0073d5c3b"><div class="ttname"><a href="fsm__slave__config_8c.html#aa0e41535e16539525584f3e0073d5c3b">ec_fsm_slave_config_state_dc_cycle</a></div><div class="ttdeci">void ec_fsm_slave_config_state_dc_cycle(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: DC CYCLE. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01314">fsm_slave_config.c:1314</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a1e2372d1d2ca00c551f93a503d06586d"><div class="ttname"><a href="structec__fsm__slave__config.html#a1e2372d1d2ca00c551f93a503d06586d">ec_fsm_slave_config::fsm_change</a></div><div class="ttdeci">ec_fsm_change_t * fsm_change</div><div class="ttdoc">State change state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00057">fsm_slave_config.h:57</a></div></div>
<div class="ttc" id="structec__sdo__request_html"><div class="ttname"><a href="structec__sdo__request.html">ec_sdo_request</a></div><div class="ttdoc">CANopen SDO request. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00048">sdo_request.h:48</a></div></div>
<div class="ttc" id="structec__slave_html_a6214f41ec1dce05b67b298b89a49e1f8"><div class="ttname"><a href="structec__slave.html#a6214f41ec1dce05b67b298b89a49e1f8">ec_slave::current_state</a></div><div class="ttdeci">ec_slave_state_t current_state</div><div class="ttdoc">Current application state. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00192">slave.h:192</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ac31c959dd3168644026c64fc841fe795"><div class="ttname"><a href="fsm__slave__config_8c.html#ac31c959dd3168644026c64fc841fe795">ec_fsm_slave_config_state_dc_clear_assign</a></div><div class="ttdeci">void ec_fsm_slave_config_state_dc_clear_assign(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: CLEAR DC ASSIGN. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00396">fsm_slave_config.c:396</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ad651366e02dfe226542b571eb5b459b5"><div class="ttname"><a href="fsm__slave__config_8c.html#ad651366e02dfe226542b571eb5b459b5">ec_fsm_slave_config_state_dc_start</a></div><div class="ttdeci">void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: DC START. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01459">fsm_slave_config.c:1459</a></div></div>
<div class="ttc" id="structec__slave__config_html_ab34b5531b56f3bb35ea0647f3aa8345a"><div class="ttname"><a href="structec__slave__config.html#ab34b5531b56f3bb35ea0647f3aa8345a">ec_slave_config::used_fmmus</a></div><div class="ttdeci">uint8_t used_fmmus</div><div class="ttdoc">Number of FMMUs used. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00139">slave_config.h:139</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga18c064146090e45d36c05876c546caeaafb41d7398780a3f09ba2c19d624b2668"><div class="ttname"><a href="group__ApplicationInterface.html#gga18c064146090e45d36c05876c546caeaafb41d7398780a3f09ba2c19d624b2668">EC_AL_STATE_SAFEOP</a></div><div class="ttdoc">Safe-operational. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00531">ecrt.h:531</a></div></div>
<div class="ttc" id="slave_8h_html_aae2995e6509df66255d8f7fcdb5eb5bb"><div class="ttname"><a href="slave_8h.html#aae2995e6509df66255d8f7fcdb5eb5bb">EC_SLAVE_WARN</a></div><div class="ttdeci">#define EC_SLAVE_WARN(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific warnings to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00090">slave.h:90</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_adf4f1684a79998d257bbb6b22a0ba626"><div class="ttname"><a href="fsm__slave__config_8c.html#adf4f1684a79998d257bbb6b22a0ba626">ec_fsm_slave_config_enter_soe_conf_safeop</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for SoE configurations to be applied in SAFEOP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01581">fsm_slave_config.c:1581</a></div></div>
<div class="ttc" id="structec__datagram__t_html"><div class="ttname"><a href="structec__datagram__t.html">ec_datagram_t</a></div><div class="ttdoc">EtherCAT datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00087">datagram.h:87</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a879e6e3cf0da1700a80deea5f25f673f"><div class="ttname"><a href="fsm__slave__config_8c.html#a879e6e3cf0da1700a80deea5f25f673f">ec_fsm_slave_config_state_fmmu</a></div><div class="ttdeci">void ec_fsm_slave_config_state_fmmu(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: FMMU. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01244">fsm_slave_config.c:1244</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga42e7df5376954bc1cf1dde11fbf17387"><div class="ttname"><a href="group__ApplicationInterface.html#ga42e7df5376954bc1cf1dde11fbf17387">EC_WRITE_U8</a></div><div class="ttdeci">#define EC_WRITE_U8(DATA, VAL)</div><div class="ttdoc">Write an 8-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02187">ecrt.h:2187</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a071e3e465f3a44800dbca990ce475513">EC_SLAVE_STATE_BOOT</a></div><div class="ttdoc">Bootstrap state (mailbox communication, firmware update) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00134">globals.h:134</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aa115b184092cf474070e8810cd35379b"><div class="ttname"><a href="fsm__slave__config_8c.html#aa115b184092cf474070e8810cd35379b">ec_fsm_slave_config_state_soe_conf_preop</a></div><div class="ttdeci">void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: SOE_CONF. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00890">fsm_slave_config.c:890</a></div></div>
<div class="ttc" id="structec__sync__signal__t_html_a584e9c4963c35777cfc06838793e20e0"><div class="ttname"><a href="structec__sync__signal__t.html#a584e9c4963c35777cfc06838793e20e0">ec_sync_signal_t::cycle_time</a></div><div class="ttdeci">uint32_t cycle_time</div><div class="ttdoc">Cycle time [ns]. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00184">globals.h:184</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a6426f6ba873260eb02f47b455666666e"><div class="ttname"><a href="fsm__change_8c.html#a6426f6ba873260eb02f47b455666666e">ec_fsm_change_start</a></div><div class="ttdeci">void ec_fsm_change_start(ec_fsm_change_t *fsm, ec_slave_t *slave, ec_slave_state_t state)</div><div class="ttdoc">Starts the change state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00090">fsm_change.c:90</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a1eeebb1d33d0dbf47498dd78a966977d"><div class="ttname"><a href="structec__datagram__t.html#a1eeebb1d33d0dbf47498dd78a966977d">ec_datagram_t::working_counter</a></div><div class="ttdeci">uint16_t working_counter</div><div class="ttdoc">Working counter. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00099">datagram.h:99</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_a64003637666ff3dabeef48b99b42255c"><div class="ttname"><a href="fsm__coe_8c.html#a64003637666ff3dabeef48b99b42255c">ec_fsm_coe_success</a></div><div class="ttdeci">int ec_fsm_coe_success(const ec_fsm_coe_t *fsm)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00262">fsm_coe.c:262</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a1fa4b37f0223f56e502f069897e9b319"><div class="ttname"><a href="fsm__slave__config_8c.html#a1fa4b37f0223f56e502f069897e9b319">ec_fsm_slave_config_state_start</a></div><div class="ttdeci">void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: START. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00219">fsm_slave_config.c:219</a></div></div>
<div class="ttc" id="structec__sii__t_html_a65ead35255e661f345c9d15033347b10"><div class="ttname"><a href="structec__sii__t.html#a65ead35255e661f345c9d15033347b10">ec_sii_t::boot_tx_mailbox_size</a></div><div class="ttdeci">uint16_t boot_tx_mailbox_size</div><div class="ttdoc">Bootstrap transmit mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00142">slave.h:142</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720abe88d98e46c97099702211a92e1d8c9d"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720abe88d98e46c97099702211a92e1d8c9d">EC_DATAGRAM_SENT</a></div><div class="ttdoc">Sent (still in the queue). </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00077">datagram.h:77</a></div></div>
<div class="ttc" id="fmmu__config_8c_html_a948cbd8f8d914b43dcc2a97c99507dab"><div class="ttname"><a href="fmmu__config_8c.html#a948cbd8f8d914b43dcc2a97c99507dab">ec_fmmu_config_page</a></div><div class="ttdeci">void ec_fmmu_config_page(const ec_fmmu_config_t *fmmu, const ec_sync_t *sync, uint8_t *data)</div><div class="ttdoc">Initializes an FMMU configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="fmmu__config_8c_source.html#l00076">fmmu_config.c:76</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a9dec0908b83d7209da989b2c6e8debf2"><div class="ttname"><a href="fsm__slave__config_8c.html#a9dec0908b83d7209da989b2c6e8debf2">ec_fsm_slave_config_state_mbox_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: SYNC. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00557">fsm_slave_config.c:557</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a63931c31e95885b7843ee93281d5239e"><div class="ttname"><a href="fsm__slave__config_8c.html#a63931c31e95885b7843ee93281d5239e">ec_fsm_slave_config_enter_dc_clear_assign</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_dc_clear_assign(ec_fsm_slave_config_t *)</div><div class="ttdoc">Clear the DC assignment. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00372">fsm_slave_config.c:372</a></div></div>
<div class="ttc" id="structec__slave_html_ae4c26b32979bcb21cf391ca3b170d701"><div class="ttname"><a href="structec__slave.html#ae4c26b32979bcb21cf391ca3b170d701">ec_slave::station_address</a></div><div class="ttdeci">uint16_t station_address</div><div class="ttdoc">Configured station address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00184">slave.h:184</a></div></div>
<div class="ttc" id="structec__sii__t_html_add5337cd03f09660a3bfe91e4047ed2c"><div class="ttname"><a href="structec__sii__t.html#add5337cd03f09660a3bfe91e4047ed2c">ec_sii_t::sync_count</a></div><div class="ttdeci">unsigned int sync_count</div><div class="ttdoc">Number of sync managers. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00166">slave.h:166</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a5ac2f5854919d07c2c70501307881582"><div class="ttname"><a href="structec__fsm__slave__config.html#a5ac2f5854919d07c2c70501307881582">ec_fsm_slave_config::request_copy</a></div><div class="ttdeci">ec_sdo_request_t request_copy</div><div class="ttdoc">Copied SDO request. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00066">fsm_slave_config.h:66</a></div></div>
<div class="ttc" id="structec__sii__t_html_abcdfe5aa59f2fcbf9deaa4d1a9c954fe"><div class="ttname"><a href="structec__sii__t.html#abcdfe5aa59f2fcbf9deaa4d1a9c954fe">ec_sii_t::std_rx_mailbox_size</a></div><div class="ttdeci">uint16_t std_rx_mailbox_size</div><div class="ttdoc">Standard receive mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00144">slave.h:144</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a093814930df5e3d3af495e85398aa872"><div class="ttname"><a href="fsm__slave__config_8c.html#a093814930df5e3d3af495e85398aa872">ec_fsm_slave_config_init</a></div><div class="ttdeci">void ec_fsm_slave_config_init(ec_fsm_slave_config_t *fsm, ec_datagram_t *datagram, ec_fsm_change_t *fsm_change, ec_fsm_coe_t *fsm_coe, ec_fsm_soe_t *fsm_soe, ec_fsm_pdo_t *fsm_pdo)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00121">fsm_slave_config.c:121</a></div></div>
<div class="ttc" id="sync_8c_html_addb7fcc84fa000b0b41f4a2801977b21"><div class="ttname"><a href="sync_8c.html#addb7fcc84fa000b0b41f4a2801977b21">ec_sync_page</a></div><div class="ttdeci">void ec_sync_page(const ec_sync_t *sync, uint8_t sync_index, uint16_t data_size, const ec_sync_config_t *sync_config, uint8_t pdo_xfer, uint8_t *data)</div><div class="ttdoc">Initializes a sync manager configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00094">sync.c:94</a></div></div>
<div class="ttc" id="globals_8h_html"><div class="ttname"><a href="globals_8h.html">globals.h</a></div><div class="ttdoc">Global definitions and macros. </div></div>
<div class="ttc" id="structec__sii__t_html_aa5c8f21c36995d272bc456266e035815"><div class="ttname"><a href="structec__sii__t.html#aa5c8f21c36995d272bc456266e035815">ec_sii_t::std_tx_mailbox_offset</a></div><div class="ttdeci">uint16_t std_tx_mailbox_offset</div><div class="ttdoc">Standard transmit mailbox address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00145">slave.h:145</a></div></div>
<div class="ttc" id="master_8h_html"><div class="ttname"><a href="master_8h.html">master.h</a></div><div class="ttdoc">EtherCAT master structure. </div></div>
<div class="ttc" id="structec__slave__config_html_a87548f86b5a467a0d2da312571bac4c0"><div class="ttname"><a href="structec__slave__config.html#a87548f86b5a467a0d2da312571bac4c0">ec_slave_config::fmmu_configs</a></div><div class="ttdeci">ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]</div><div class="ttdoc">FMMU configurations. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00138">slave_config.h:138</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0a42a5127410509dad07baf40ba938ecf4"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a42a5127410509dad07baf40ba938ecf4">EC_SLAVE_STATE_SAFEOP</a></div><div class="ttdoc">SAFEOP (mailbox communication and input update) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00136">globals.h:136</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ada4717cc684d2830bd4f3ea1edea6610"><div class="ttname"><a href="fsm__slave__config_8c.html#ada4717cc684d2830bd4f3ea1edea6610">ec_fsm_slave_config_enter_watchdog_divider</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *)</div><div class="ttdoc">WATCHDOG_DIVIDER entry function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00974">fsm_slave_config.c:974</a></div></div>
<div class="ttc" id="structec__slave__config_html_a947ad2e8f2573df6655965524575c5b8"><div class="ttname"><a href="structec__slave__config.html#a947ad2e8f2573df6655965524575c5b8">ec_slave_config::dc_sync</a></div><div class="ttdeci">ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT]</div><div class="ttdoc">DC sync signals. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00141">slave_config.h:141</a></div></div>
<div class="ttc" id="structec__sii__t_html_a91d2fc76e5e4b634e130aa9e51e71bfc"><div class="ttname"><a href="structec__sii__t.html#a91d2fc76e5e4b634e130aa9e51e71bfc">ec_sii_t::boot_tx_mailbox_offset</a></div><div class="ttdeci">uint16_t boot_tx_mailbox_offset</div><div class="ttdoc">Bootstrap transmit mailbox address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00141">slave.h:141</a></div></div>
<div class="ttc" id="structec__slave_html"><div class="ttname"><a href="structec__slave.html">ec_slave</a></div><div class="ttdoc">EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00176">slave.h:176</a></div></div>
<div class="ttc" id="sdo__request_8c_html_af3a555948ca6b916238e6c696d676645"><div class="ttname"><a href="sdo__request_8c.html#af3a555948ca6b916238e6c696d676645">ec_sdo_request_clear</a></div><div class="ttdeci">void ec_sdo_request_clear(ec_sdo_request_t *req)</div><div class="ttdoc">SDO request destructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00076">sdo_request.c:76</a></div></div>
<div class="ttc" id="fsm__slave__config_8h_html"><div class="ttname"><a href="fsm__slave__config_8h.html">fsm_slave_config.h</a></div><div class="ttdoc">EtherCAT slave configuration state machine. </div></div>
<div class="ttc" id="fsm__slave__config_8c_html_afb5e783f09530f52f9ee6130f717bd69"><div class="ttname"><a href="fsm__slave__config_8c.html#afb5e783f09530f52f9ee6130f717bd69">ec_fsm_slave_config_state_soe_conf_safeop</a></div><div class="ttdeci">void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: SOE_CONF. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01615">fsm_slave_config.c:1615</a></div></div>
<div class="ttc" id="pdo__list_8c_html_a464a658cdd2744493d9e63d033db4d36"><div class="ttname"><a href="pdo__list_8c.html#a464a658cdd2744493d9e63d033db4d36">ec_pdo_list_total_size</a></div><div class="ttdeci">uint16_t ec_pdo_list_total_size(const ec_pdo_list_t *pl)</div><div class="ttdoc">Calculates the total size of the mapped PDO entries. </div><div class="ttdef"><b>Definition:</b> <a href="pdo__list_8c_source.html#l00087">pdo_list.c:87</a></div></div>
<div class="ttc" id="datagram_8c_html_a56f873f563806b58344e8d5da6b0a53d"><div class="ttname"><a href="datagram_8c.html#a56f873f563806b58344e8d5da6b0a53d">ec_datagram_zero</a></div><div class="ttdeci">void ec_datagram_zero(ec_datagram_t *datagram)</div><div class="ttdoc">Fills the datagram payload memory with zeros. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00178">datagram.c:178</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_afad3c621c1ca68bcdb3b983cfa1101c0"><div class="ttname"><a href="structec__fsm__slave__config.html#afad3c621c1ca68bcdb3b983cfa1101c0">ec_fsm_slave_config::fsm_pdo</a></div><div class="ttdeci">ec_fsm_pdo_t * fsm_pdo</div><div class="ttdoc">PDO configuration state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00060">fsm_slave_config.h:60</a></div></div>
<div class="ttc" id="fsm__soe_8c_html_a34c4cc4d7d8988a5786599d07d52aebd"><div class="ttname"><a href="fsm__soe_8c.html#a34c4cc4d7d8988a5786599d07d52aebd">ec_fsm_soe_transfer</a></div><div class="ttdeci">void ec_fsm_soe_transfer(ec_fsm_soe_t *fsm, ec_slave_t *slave, ec_soe_request_t *request)</div><div class="ttdoc">Starts to transfer an IDN to/from a slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00130">fsm_soe.c:130</a></div></div>
<div class="ttc" id="fsm__soe_8c_html_abe5fc037034ee0591047a678d3d52e36"><div class="ttname"><a href="fsm__soe_8c.html#abe5fc037034ee0591047a678d3d52e36">ec_fsm_soe_success</a></div><div class="ttdeci">int ec_fsm_soe_success(const ec_fsm_soe_t *fsm)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00187">fsm_soe.c:187</a></div></div>
<div class="ttc" id="structec__slave__config_html_a28bf292a581f2af8696f41fa333ba0f3"><div class="ttname"><a href="structec__slave__config.html#a28bf292a581f2af8696f41fa333ba0f3">ec_slave_config::sync_configs</a></div><div class="ttdeci">ec_sync_config_t sync_configs[EC_MAX_SYNC_MANAGERS]</div><div class="ttdoc">Sync manager configurations. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00136">slave_config.h:136</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a90d55e568be4b8464e9725c105d6c4b0"><div class="ttname"><a href="structec__datagram__t.html#a90d55e568be4b8464e9725c105d6c4b0">ec_datagram_t::state</a></div><div class="ttdeci">ec_datagram_state_t state</div><div class="ttdoc">State. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00100">datagram.h:100</a></div></div>
<div class="ttc" id="structec__slave_html_a35616766fc7afbd4fc0b8a5d5a652bf7"><div class="ttname"><a href="structec__slave.html#a35616766fc7afbd4fc0b8a5d5a652bf7">ec_slave::config</a></div><div class="ttdeci">ec_slave_config_t * config</div><div class="ttdoc">Current configuration. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00190">slave.h:190</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_ga9558cb79cc4015da0a551704649d1e80"><div class="ttname"><a href="group__ApplicationInterface.html#ga9558cb79cc4015da0a551704649d1e80">EC_WRITE_U32</a></div><div class="ttdeci">#define EC_WRITE_U32(DATA, VAL)</div><div class="ttdoc">Write a 32-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02221">ecrt.h:2221</a></div></div>
<div class="ttc" id="structec__fmmu__config__t_html_aa77d8e55cd99d08955d2566fc2ab4eec"><div class="ttname"><a href="structec__fmmu__config__t.html#aa77d8e55cd99d08955d2566fc2ab4eec">ec_fmmu_config_t::sync_index</a></div><div class="ttdeci">uint8_t sync_index</div><div class="ttdoc">Index of sync manager to use. </div><div class="ttdef"><b>Definition:</b> <a href="fmmu__config_8h_source.html#l00050">fmmu_config.h:50</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a62bf6e44b03ddefd7c14106fb5400dd8"><div class="ttname"><a href="fsm__slave__config_8c.html#a62bf6e44b03ddefd7c14106fb5400dd8">ec_fsm_slave_config_state_watchdog_divider</a></div><div class="ttdeci">void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: WATCHDOG_DIVIDER. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00999">fsm_slave_config.c:999</a></div></div>
<div class="ttc" id="structec__sii__t_html_a7740732efd267741b956b8912502d8a1"><div class="ttname"><a href="structec__sii__t.html#a7740732efd267741b956b8912502d8a1">ec_sii_t::mailbox_protocols</a></div><div class="ttdeci">uint16_t mailbox_protocols</div><div class="ttdoc">Supported mailbox protocols. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00147">slave.h:147</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ac49f7cba3423c2f0996fb9bd318bac0b"><div class="ttname"><a href="fsm__slave__config_8c.html#ac49f7cba3423c2f0996fb9bd318bac0b">ec_fsm_slave_config_state_end</a></div><div class="ttdeci">void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *)</div><div class="ttdoc">State: END. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01725">fsm_slave_config.c:1725</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aee4686cc448d8e25b640e4a4506cc468"><div class="ttname"><a href="fsm__slave__config_8c.html#aee4686cc448d8e25b640e4a4506cc468">ec_fsm_slave_config_enter_clear_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_clear_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Clear the sync manager configurations. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00311">fsm_slave_config.c:311</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a5ebfe5792997b3d5f0a815e23e57a039"><div class="ttname"><a href="fsm__slave__config_8c.html#a5ebfe5792997b3d5f0a815e23e57a039">ec_fsm_slave_config_running</a></div><div class="ttdeci">int ec_fsm_slave_config_running(const ec_fsm_slave_config_t *fsm)</div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00170">fsm_slave_config.c:170</a></div></div>
<div class="ttc" id="slave_8h_html_a39519c3172e4196e40fa9006fb801612"><div class="ttname"><a href="slave_8h.html#a39519c3172e4196e40fa9006fb801612">EC_SLAVE_ERR</a></div><div class="ttdeci">#define EC_SLAVE_ERR(slave, fmt, args...)</div><div class="ttdoc">Convenience macro for printing slave-specific errors to syslog. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00076">slave.h:76</a></div></div>
<div class="ttc" id="datagram_8c_html_a1f7361d097a385f3ed98ce98ba352a1c"><div class="ttname"><a href="datagram_8c.html#a1f7361d097a385f3ed98ce98ba352a1c">ec_datagram_print_wc_error</a></div><div class="ttdeci">void ec_datagram_print_wc_error(const ec_datagram_t *datagram)</div><div class="ttdoc">Evaluates the working counter of a single-cast datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00602">datagram.c:602</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ae3ebe26a0aba621a2fa21a8c216ef4bb"><div class="ttname"><a href="fsm__slave__config_8c.html#ae3ebe26a0aba621a2fa21a8c216ef4bb">EC_DC_START_OFFSET</a></div><div class="ttdeci">#define EC_DC_START_OFFSET</div><div class="ttdoc">Time offset (in ns), that is added to cyclic start time. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00060">fsm_slave_config.c:60</a></div></div>
<div class="ttc" id="structec__sync__t_html"><div class="ttname"><a href="structec__sync__t.html">ec_sync_t</a></div><div class="ttdoc">Sync manager. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00047">sync.h:47</a></div></div>
<div class="ttc" id="structec__sii__t_html_a0172b2d04dcbc56d75abc1efa76dd392"><div class="ttname"><a href="structec__sii__t.html#a0172b2d04dcbc56d75abc1efa76dd392">ec_sii_t::std_rx_mailbox_offset</a></div><div class="ttdeci">uint16_t std_rx_mailbox_offset</div><div class="ttdoc">Standard receive mailbox address. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00143">slave.h:143</a></div></div>
<div class="ttc" id="fsm__change_8c_html_ab408609f93deb57cb9ad9d63a9703491"><div class="ttname"><a href="fsm__change_8c.html#ab408609f93deb57cb9ad9d63a9703491">ec_fsm_change_exec</a></div><div class="ttdeci">int ec_fsm_change_exec(ec_fsm_change_t *fsm)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00124">fsm_change.c:124</a></div></div>
<div class="ttc" id="soe__request_8c_html_af363b99bdce32c73c89bcec7520b5d01"><div class="ttname"><a href="soe__request_8c.html#af363b99bdce32c73c89bcec7520b5d01">ec_soe_request_clear</a></div><div class="ttdeci">void ec_soe_request_clear(ec_soe_request_t *req)</div><div class="ttdoc">SoE request destructor. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8c_source.html#l00077">soe_request.c:77</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a29ccfdca2018704cce354e27d2ca264e"><div class="ttname"><a href="fsm__slave__config_8c.html#a29ccfdca2018704cce354e27d2ca264e">ec_fsm_slave_config_state_clear_fmmus</a></div><div class="ttdeci">void ec_fsm_slave_config_state_clear_fmmus(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: CLEAR FMMU. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00281">fsm_slave_config.c:281</a></div></div>
<div class="ttc" id="structec__sync__config__t_html_ae70642198065ad0381dacdfa21fcebaa"><div class="ttname"><a href="structec__sync__config__t.html#ae70642198065ad0381dacdfa21fcebaa">ec_sync_config_t::pdos</a></div><div class="ttdeci">ec_pdo_list_t pdos</div><div class="ttdoc">Current PDO assignment. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00049">sync_config.h:49</a></div></div>
<div class="ttc" id="structec__slave__config_html_a444000aa859f4830053b65518fc65233"><div class="ttname"><a href="structec__slave__config.html#a444000aa859f4830053b65518fc65233">ec_slave_config::dc_assign_activate</a></div><div class="ttdeci">uint16_t dc_assign_activate</div><div class="ttdoc">Vendor-specific AssignActivate word. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00140">slave_config.h:140</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ad6a6da651b80a6d73abc9711e0d57703"><div class="ttname"><a href="fsm__slave__config_8c.html#ad6a6da651b80a6d73abc9711e0d57703">ec_fsm_slave_config_enter_mbox_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for mailbox sync managers to be configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00425">fsm_slave_config.c:425</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a6b7e0ac3aa324aede3c39467672f7201"><div class="ttname"><a href="structec__fsm__slave__config.html#a6b7e0ac3aa324aede3c39467672f7201">ec_fsm_slave_config::datagram</a></div><div class="ttdeci">ec_datagram_t * datagram</div><div class="ttdoc">Datagram used in the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00056">fsm_slave_config.h:56</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gace219530ddd83f5f3f54d5b329b94a3d"><div class="ttname"><a href="group__ApplicationInterface.html#gace219530ddd83f5f3f54d5b329b94a3d">EC_WRITE_U16</a></div><div class="ttdeci">#define EC_WRITE_U16(DATA, VAL)</div><div class="ttdoc">Write a 16-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02204">ecrt.h:2204</a></div></div>
<div class="ttc" id="structec__slave_html_a45adb760f44d08fcab9c81d6022e0bad"><div class="ttname"><a href="structec__slave.html#a45adb760f44d08fcab9c81d6022e0bad">ec_slave::base_fmmu_count</a></div><div class="ttdeci">uint8_t base_fmmu_count</div><div class="ttdoc">Number of supported FMMUs. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00207">slave.h:207</a></div></div>
<div class="ttc" id="structec__slave_html_a885011c3377eacc3513c7806db9ea4d4"><div class="ttname"><a href="structec__slave.html#a885011c3377eacc3513c7806db9ea4d4">ec_slave::configured_rx_mailbox_offset</a></div><div class="ttdeci">uint16_t configured_rx_mailbox_offset</div><div class="ttdoc">Configured receive mailbox offset. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00195">slave.h:195</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a7114df3d23652e25cf456b9ba8485417"><div class="ttname"><a href="fsm__slave__config_8c.html#a7114df3d23652e25cf456b9ba8485417">ec_fsm_slave_config_enter_fmmu</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for FMMUs to be configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01190">fsm_slave_config.c:1190</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gaca608a732bed6f11ddfdf073e8c3a80d"><div class="ttname"><a href="group__ApplicationInterface.html#gaca608a732bed6f11ddfdf073e8c3a80d">EC_READ_U32</a></div><div class="ttdeci">#define EC_READ_U32(DATA)</div><div class="ttdoc">Read a 32-bit unsigned value from EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02151">ecrt.h:2151</a></div></div>
<div class="ttc" id="structec__slave__config_html_a51e0bd197191abd7a46fd3206575eccb"><div class="ttname"><a href="structec__slave__config.html#a51e0bd197191abd7a46fd3206575eccb">ec_slave_config::watchdog_intervals</a></div><div class="ttdeci">uint16_t watchdog_intervals</div><div class="ttdoc">Process data watchdog intervals (see spec. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00130">slave_config.h:130</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a6b1533fd17415a5526ab95ab9f29023b"><div class="ttname"><a href="fsm__slave__config_8c.html#a6b1533fd17415a5526ab95ab9f29023b">ec_fsm_slave_config_enter_sdo_conf</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for SDO configurations to be applied. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00786">fsm_slave_config.c:786</a></div></div>
<div class="ttc" id="structec__slave_html_ae3ca485627d212610814bf4e0130eddd"><div class="ttname"><a href="structec__slave.html#ae3ca485627d212610814bf4e0130eddd">ec_slave::master</a></div><div class="ttdeci">ec_master_t * master</div><div class="ttdoc">Master owning the slave. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00178">slave.h:178</a></div></div>
<div class="ttc" id="sdo__request_8c_html_a70e89eac4d08148fb507ec32756738b8"><div class="ttname"><a href="sdo__request_8c.html#a70e89eac4d08148fb507ec32756738b8">ec_sdo_request_copy</a></div><div class="ttdeci">int ec_sdo_request_copy(ec_sdo_request_t *req, const ec_sdo_request_t *other)</div><div class="ttdoc">Copy another SDO request. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00091">sdo_request.c:91</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ab86fec90d4f5a3bfd8452abe34eba544"><div class="ttname"><a href="fsm__slave__config_8c.html#ab86fec90d4f5a3bfd8452abe34eba544">ec_fsm_slave_config_enter_soe_conf_preop</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for SoE configurations to be applied. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00856">fsm_slave_config.c:856</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a2878bf00f18738284e2a0e42a32c7374"><div class="ttname"><a href="structec__fsm__slave__config.html#a2878bf00f18738284e2a0e42a32c7374">ec_fsm_slave_config::state</a></div><div class="ttdeci">void(* state)(ec_fsm_slave_config_t *)</div><div class="ttdoc">State function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00063">fsm_slave_config.h:63</a></div></div>
<div class="ttc" id="datagram_8c_html_ad34b69b7bf678ec548bd09d3ec4027d6"><div class="ttname"><a href="datagram_8c.html#ad34b69b7bf678ec548bd09d3ec4027d6">ec_datagram_fpwr</a></div><div class="ttdeci">int ec_datagram_fpwr(ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)</div><div class="ttdoc">Initializes an EtherCAT FPWR datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00298">datagram.c:298</a></div></div>
<div class="ttc" id="structec__slave_html_a65fba9aad1f196c6c43ba7dceecc15dd"><div class="ttname"><a href="structec__slave.html#a65fba9aad1f196c6c43ba7dceecc15dd">ec_slave::has_dc_system_time</a></div><div class="ttdeci">uint8_t has_dc_system_time</div><div class="ttdoc">The slave supports the DC system time register. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00212">slave.h:212</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_af6d87c10639604b3e0ee4efc9ebeb94d"><div class="ttname"><a href="fsm__slave__config_8c.html#af6d87c10639604b3e0ee4efc9ebeb94d">ec_fsm_slave_config_enter_init</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *)</div><div class="ttdoc">Start state change to INIT. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00231">fsm_slave_config.c:231</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aeee2e09af3d8a8d6ad35a9c89f869b74"><div class="ttname"><a href="fsm__slave__config_8c.html#aeee2e09af3d8a8d6ad35a9c89f869b74">ec_fsm_slave_config_state_pdo_conf</a></div><div class="ttdeci">void ec_fsm_slave_config_state_pdo_conf(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: PDO_CONF. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00948">fsm_slave_config.c:948</a></div></div>
<div class="ttc" id="datagram_8c_html_ae9a50bd9874a22d2f62a17973c042e9b"><div class="ttname"><a href="datagram_8c.html#ae9a50bd9874a22d2f62a17973c042e9b">ec_datagram_fprd</a></div><div class="ttdeci">int ec_datagram_fprd(ec_datagram_t *datagram, uint16_t configured_address, uint16_t mem_address, size_t data_size)</div><div class="ttdoc">Initializes an EtherCAT FPRD datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00273">datagram.c:273</a></div></div>
<div class="ttc" id="structec__sync__t_html_aede99eccf8db60056e6deebe66501365"><div class="ttname"><a href="structec__sync__t.html#aede99eccf8db60056e6deebe66501365">ec_sync_t::control_register</a></div><div class="ttdeci">uint8_t control_register</div><div class="ttdoc">Control register value. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00051">sync.h:51</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a6c1f6900f5043f39d2d11250e5738dd0"><div class="ttname"><a href="structec__fsm__slave__config.html#a6c1f6900f5043f39d2d11250e5738dd0">ec_fsm_slave_config::fsm_coe</a></div><div class="ttdeci">ec_fsm_coe_t * fsm_coe</div><div class="ttdoc">CoE state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00058">fsm_slave_config.h:58</a></div></div>
<div class="ttc" id="structec__slave__config_html_aaa1db6b3136fa60412cbf8d1302c48e9"><div class="ttname"><a href="structec__slave__config.html#aaa1db6b3136fa60412cbf8d1302c48e9">ec_slave_config::watchdog_divider</a></div><div class="ttdeci">uint16_t watchdog_divider</div><div class="ttdoc">Watchdog divider as a number of 40ns intervals (see spec. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00128">slave_config.h:128</a></div></div>
<div class="ttc" id="structec__fsm__pdo_html"><div class="ttname"><a href="structec__fsm__pdo.html">ec_fsm_pdo</a></div><div class="ttdoc">PDO configuration state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8h_source.html#l00054">fsm_pdo.h:54</a></div></div>
<div class="ttc" id="structec__soe__request__t_html_aa421217a4fc552dc2411b07010a4520a"><div class="ttname"><a href="structec__soe__request__t.html#aa421217a4fc552dc2411b07010a4520a">ec_soe_request_t::al_state</a></div><div class="ttdeci">ec_al_state_t al_state</div><div class="ttdoc">AL state (only valid for IDN config). </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8h_source.html#l00052">soe_request.h:52</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a23076a31e43499d1165ce23873a9bca6"><div class="ttname"><a href="fsm__slave__config_8c.html#a23076a31e43499d1165ce23873a9bca6">ec_fsm_slave_config_state_pdo_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Configure PDO sync managers. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01157">fsm_slave_config.c:1157</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aef4451a8493a8ee8d4178870fba218fd"><div class="ttname"><a href="fsm__slave__config_8c.html#aef4451a8493a8ee8d4178870fba218fd">EC_DC_MAX_SYNC_DIFF_NS</a></div><div class="ttdeci">#define EC_DC_MAX_SYNC_DIFF_NS</div><div class="ttdoc">Maximum clock difference (in ns) before going to SAFEOP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00052">fsm_slave_config.c:52</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a53b9e5224c07c71ea0148e259bc15dc4"><div class="ttname"><a href="fsm__slave__config_8c.html#a53b9e5224c07c71ea0148e259bc15dc4">ec_fsm_slave_config_enter_safeop</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Request SAFEOP state. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01536">fsm_slave_config.c:1536</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a5760deffedeccf9457cd5bbf9c8b1706"><div class="ttname"><a href="structec__fsm__slave__config.html#a5760deffedeccf9457cd5bbf9c8b1706">ec_fsm_slave_config::fsm_soe</a></div><div class="ttdeci">ec_fsm_soe_t * fsm_soe</div><div class="ttdoc">SoE state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00059">fsm_slave_config.h:59</a></div></div>
<div class="ttc" id="structec__slave__config_html_a9bfab1eba98284fcaa21079ea1700188"><div class="ttname"><a href="structec__slave__config.html#a9bfab1eba98284fcaa21079ea1700188">ec_slave_config::soe_configs</a></div><div class="ttdeci">struct list_head soe_configs</div><div class="ttdoc">List of SoE configurations. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00147">slave_config.h:147</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a48bda2af315f6b104013c8361ed34857"><div class="ttname"><a href="fsm__slave__config_8c.html#a48bda2af315f6b104013c8361ed34857">ec_fsm_slave_config_enter_pdo_conf</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *)</div><div class="ttdoc">PDO_CONF entry function. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00934">fsm_slave_config.c:934</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a884fcfd4e7f6e89d0d99dab720939c07"><div class="ttname"><a href="structec__fsm__slave__config.html#a884fcfd4e7f6e89d0d99dab720939c07">ec_fsm_slave_config::take_time</a></div><div class="ttdeci">unsigned int take_time</div><div class="ttdoc">Store jiffies after datagram reception. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00070">fsm_slave_config.h:70</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0af8bd16b734a32ab829a51f81620edfff"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0af8bd16b734a32ab829a51f81620edfff">EC_SLAVE_STATE_INIT</a></div><div class="ttdoc">INIT state (no mailbox communication, no IO) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00130">globals.h:130</a></div></div>
<div class="ttc" id="fsm__pdo_8c_html_adeb03e520938d50c3adb3b15b8a7801c"><div class="ttname"><a href="fsm__pdo_8c.html#adeb03e520938d50c3adb3b15b8a7801c">ec_fsm_pdo_success</a></div><div class="ttdeci">int ec_fsm_pdo_success(const ec_fsm_pdo_t *fsm)</div><div class="ttdoc">Get execution result. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__pdo_8c_source.html#l00180">fsm_pdo.c:180</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html"><div class="ttname"><a href="structec__fsm__slave__config.html">ec_fsm_slave_config</a></div><div class="ttdoc">Finite state machine to configure an EtherCAT slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00054">fsm_slave_config.h:54</a></div></div>
<div class="ttc" id="datagram_8c_html_a84b0c2679038e17cfd5af69df9a68001"><div class="ttname"><a href="datagram_8c.html#a84b0c2679038e17cfd5af69df9a68001">ec_datagram_print_state</a></div><div class="ttdeci">void ec_datagram_print_state(const ec_datagram_t *datagram)</div><div class="ttdoc">Prints the state of a datagram. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8c_source.html#l00565">datagram.c:565</a></div></div>
<div class="ttc" id="mailbox_8h_html"><div class="ttname"><a href="mailbox_8h.html">mailbox.h</a></div><div class="ttdoc">Mailbox functionality. </div></div>
<div class="ttc" id="structec__sync__t_html_a581dfbd7e289ab43dc3f5b7f844c4776"><div class="ttname"><a href="structec__sync__t.html#a581dfbd7e289ab43dc3f5b7f844c4776">ec_sync_t::enable</a></div><div class="ttdeci">uint8_t enable</div><div class="ttdoc">Enable bit. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00052">sync.h:52</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_aa4f0d106474cbddf8159b09049d14398"><div class="ttname"><a href="structec__fsm__slave__config.html#aa4f0d106474cbddf8159b09049d14398">ec_fsm_slave_config::slave</a></div><div class="ttdeci">ec_slave_t * slave</div><div class="ttdoc">Slave the FSM runs on. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00062">fsm_slave_config.h:62</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054"><div class="ttname"><a href="group__ApplicationInterface.html#gga703c4e47384b3601e7605d6d910aaba1a1d65420e76eb63b731b1148054c40054">EC_DIR_INVALID</a></div><div class="ttdoc">Invalid direction. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l00418">ecrt.h:418</a></div></div>
<div class="ttc" id="sdo__request_8c_html_a0e62e96b9d01ab1b89cc2df89d0ac8ef"><div class="ttname"><a href="sdo__request_8c.html#a0e62e96b9d01ab1b89cc2df89d0ac8ef">ec_sdo_request_init</a></div><div class="ttdeci">void ec_sdo_request_init(ec_sdo_request_t *req)</div><div class="ttdoc">SDO request constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00056">sdo_request.c:56</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_afd878d760f1d15be33a19791d174a0c8"><div class="ttname"><a href="fsm__slave__config_8c.html#afd878d760f1d15be33a19791d174a0c8">ec_fsm_slave_config_state_op</a></div><div class="ttdeci">void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: OP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01673">fsm_slave_config.c:1673</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gac2186e4bce70f3ba61c76fe5d1ddd2a6"><div class="ttname"><a href="group__ApplicationInterface.html#gac2186e4bce70f3ba61c76fe5d1ddd2a6">EC_WRITE_U64</a></div><div class="ttdeci">#define EC_WRITE_U64(DATA, VAL)</div><div class="ttdoc">Write a 64-bit unsigned value to EtherCAT data. </div><div class="ttdef"><b>Definition:</b> <a href="ecrt_8h_source.html#l02238">ecrt.h:2238</a></div></div>
<div class="ttc" id="structec__sii__t_html_aa5e4828a5bb2ea45194de12fe48608ed"><div class="ttname"><a href="structec__sii__t.html#aa5e4828a5bb2ea45194de12fe48608ed">ec_sii_t::boot_rx_mailbox_size</a></div><div class="ttdeci">uint16_t boot_rx_mailbox_size</div><div class="ttdoc">Bootstrap receive mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00140">slave.h:140</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_ac1c8772376c738eb4b500b904bae8695"><div class="ttname"><a href="structec__fsm__slave__config.html#ac1c8772376c738eb4b500b904bae8695">ec_fsm_slave_config::soe_request_copy</a></div><div class="ttdeci">ec_soe_request_t soe_request_copy</div><div class="ttdoc">Copied SDO request. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00068">fsm_slave_config.h:68</a></div></div>
<div class="ttc" id="structec__sync__config__t_html"><div class="ttname"><a href="structec__sync__config__t.html">ec_sync_config_t</a></div><div class="ttdoc">Sync manager configuration. </div><div class="ttdef"><b>Definition:</b> <a href="sync__config_8h_source.html#l00046">sync_config.h:46</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ac57f8276c2094c03c4bff58efd775d37"><div class="ttname"><a href="fsm__slave__config_8c.html#ac57f8276c2094c03c4bff58efd775d37">ec_fsm_slave_config_exec</a></div><div class="ttdeci">int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *fsm)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00187">fsm_slave_config.c:187</a></div></div>
<div class="ttc" id="structec__sdo__request_html_a80c68878d98d613513a0b985be43198e"><div class="ttname"><a href="structec__sdo__request.html#a80c68878d98d613513a0b985be43198e">ec_sdo_request::list</a></div><div class="ttdeci">struct list_head list</div><div class="ttdoc">List item. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8h_source.html#l00049">sdo_request.h:49</a></div></div>
<div class="ttc" id="structec__sync__signal__t_html"><div class="ttname"><a href="structec__sync__signal__t.html">ec_sync_signal_t</a></div><div class="ttdoc">EtherCAT slave sync signal configuration. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00183">globals.h:183</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_acf977ba0f42eabf38b9e0d5eb508a568"><div class="ttname"><a href="fsm__coe_8c.html#acf977ba0f42eabf38b9e0d5eb508a568">ec_fsm_coe_exec</a></div><div class="ttdeci">int ec_fsm_coe_exec(ec_fsm_coe_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00228">fsm_coe.c:228</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ad2372ca4d8aebe4b1df13d6e090a56b8"><div class="ttname"><a href="fsm__slave__config_8c.html#ad2372ca4d8aebe4b1df13d6e090a56b8">ec_fsm_slave_config_state_clear_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_state_clear_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: CLEAR SYNC. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00340">fsm_slave_config.c:340</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720acb7d25358159e7c95e334a74b97d661c"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720acb7d25358159e7c95e334a74b97d661c">EC_DATAGRAM_QUEUED</a></div><div class="ttdoc">Queued for sending. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00076">datagram.h:76</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a9f9009188c7cee7d421908a8924ba5e8">EC_DATAGRAM_TIMED_OUT</a></div><div class="ttdoc">Timed out (dequeued). </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00079">datagram.h:79</a></div></div>
<div class="ttc" id="structec__master_html_aafac97e86bc13e578d3ff0030c8ce7eb"><div class="ttname"><a href="structec__master.html#aafac97e86bc13e578d3ff0030c8ce7eb">ec_master::has_app_time</a></div><div class="ttdeci">u8 has_app_time</div><div class="ttdoc">Application time is valid. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00240">master.h:240</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a71e2a09cfd6eca4aede62732d2d0b7ab"><div class="ttname"><a href="fsm__slave__config_8c.html#a71e2a09cfd6eca4aede62732d2d0b7ab">ec_fsm_slave_config_state_error</a></div><div class="ttdeci">void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *)</div><div class="ttdoc">State: ERROR. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01715">fsm_slave_config.c:1715</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ac2b66c1eec055bdf97dfe28b1867829a"><div class="ttname"><a href="fsm__slave__config_8c.html#ac2b66c1eec055bdf97dfe28b1867829a">ec_fsm_slave_config_clear</a></div><div class="ttdeci">void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *fsm)</div><div class="ttdoc">Destructor. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00144">fsm_slave_config.c:144</a></div></div>
<div class="ttc" id="structec__master_html_a499bcb3d75277ce4415f6df3de21b7d0"><div class="ttname"><a href="structec__master.html#a499bcb3d75277ce4415f6df3de21b7d0">ec_master::app_time</a></div><div class="ttdeci">u64 app_time</div><div class="ttdoc">Time of the last ecrt_master_sync() call. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00238">master.h:238</a></div></div>
<div class="ttc" id="structec__sync__t_html_a35017ae8615f6eee4ecb5ed044501184"><div class="ttname"><a href="structec__sync__t.html#a35017ae8615f6eee4ecb5ed044501184">ec_sync_t::physical_start_address</a></div><div class="ttdeci">uint16_t physical_start_address</div><div class="ttdoc">Physical start address. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00049">sync.h:49</a></div></div>
<div class="ttc" id="structec__slave_html_af177795f6287be576f617772d18e3dee"><div class="ttname"><a href="structec__slave.html#af177795f6287be576f617772d18e3dee">ec_slave::jiffies_preop</a></div><div class="ttdeci">unsigned long jiffies_preop</div><div class="ttdoc">Time, the slave went to PREOP. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00227">slave.h:227</a></div></div>
<div class="ttc" id="structec__slave_html_a0310afbbf38da2a92cdbe3911a46535c"><div class="ttname"><a href="structec__slave.html#a0310afbbf38da2a92cdbe3911a46535c">ec_slave::configured_rx_mailbox_size</a></div><div class="ttdeci">uint16_t configured_rx_mailbox_size</div><div class="ttdoc">Configured receive mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00197">slave.h:197</a></div></div>
<div class="ttc" id="structec__slave_html_a2b02f5e40a79f9b6213dde898a10b873"><div class="ttname"><a href="structec__slave.html#a2b02f5e40a79f9b6213dde898a10b873">ec_slave::base_dc_supported</a></div><div class="ttdeci">uint8_t base_dc_supported</div><div class="ttdoc">Distributed clocks are supported. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00210">slave.h:210</a></div></div>
<div class="ttc" id="structec__datagram__t_html_ae7471d08444f2bc780532e9268859296"><div class="ttname"><a href="structec__datagram__t.html#ae7471d08444f2bc780532e9268859296">ec_datagram_t::data</a></div><div class="ttdeci">uint8_t * data</div><div class="ttdoc">Datagram payload. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00094">datagram.h:94</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a4f251cd33ffedc3dd47b10c058dbcd4a"><div class="ttname"><a href="fsm__slave__config_8c.html#a4f251cd33ffedc3dd47b10c058dbcd4a">ec_fsm_slave_config_state_dc_assign</a></div><div class="ttdeci">void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: DC ASSIGN. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01504">fsm_slave_config.c:1504</a></div></div>
<div class="ttc" id="structec__slave_html_aa4d67d55717398c4f25d379ede390d5d"><div class="ttname"><a href="structec__slave.html#aa4d67d55717398c4f25d379ede390d5d">ec_slave::base_sync_count</a></div><div class="ttdeci">uint8_t base_sync_count</div><div class="ttdoc">Number of supported sync managers. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00208">slave.h:208</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ab1b3b7d0ee7df28be7c7bfec05d613c8"><div class="ttname"><a href="fsm__slave__config_8c.html#ab1b3b7d0ee7df28be7c7bfec05d613c8">ec_fsm_slave_config_enter_op</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_op(ec_fsm_slave_config_t *)</div><div class="ttdoc">Bring slave to OP. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01659">fsm_slave_config.c:1659</a></div></div>
<div class="ttc" id="structec__slave__config_html"><div class="ttname"><a href="structec__slave__config.html">ec_slave_config</a></div><div class="ttdoc">EtherCAT slave configuration. </div><div class="ttdef"><b>Definition:</b> <a href="slave__config_8h_source.html#l00118">slave_config.h:118</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a7cf04a851c168dd46cebe1d311414abf"><div class="ttname"><a href="structec__fsm__slave__config.html#a7cf04a851c168dd46cebe1d311414abf">ec_fsm_slave_config::soe_request</a></div><div class="ttdeci">ec_soe_request_t * soe_request</div><div class="ttdoc">SDO request for SDO configuration. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00067">fsm_slave_config.h:67</a></div></div>
<div class="ttc" id="soe__request_8c_html_a02f5e4b5047b8722d5df2096860807bb"><div class="ttname"><a href="soe__request_8c.html#a02f5e4b5047b8722d5df2096860807bb">ec_soe_request_write</a></div><div class="ttdeci">void ec_soe_request_write(ec_soe_request_t *req)</div><div class="ttdoc">Request a write operation. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8c_source.html#l00245">soe_request.c:245</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a1d6f6bb1032bf3687e6be6b71a66a008"><div class="ttname"><a href="fsm__slave__config_8c.html#a1d6f6bb1032bf3687e6be6b71a66a008">ec_fsm_slave_config_success</a></div><div class="ttdeci">int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *fsm)</div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00206">fsm_slave_config.c:206</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a4b40cbd2649821755d2fec3669302a6d"><div class="ttname"><a href="fsm__slave__config_8c.html#a4b40cbd2649821755d2fec3669302a6d">ec_fsm_slave_config_enter_pdo_sync</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_pdo_sync(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for PDO sync managers to be configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01089">fsm_slave_config.c:1089</a></div></div>
<div class="ttc" id="soe__request_8c_html_ac48c2c807e1193b309dc20b08db88af1"><div class="ttname"><a href="soe__request_8c.html#ac48c2c807e1193b309dc20b08db88af1">ec_soe_request_init</a></div><div class="ttdeci">void ec_soe_request_init(ec_soe_request_t *req)</div><div class="ttdoc">SoE request constructor. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8c_source.html#l00056">soe_request.c:56</a></div></div>
<div class="ttc" id="slave__config_8h_html"><div class="ttname"><a href="slave__config_8h.html">slave_config.h</a></div><div class="ttdoc">EtherCAT slave configuration structure. </div></div>
<div class="ttc" id="fsm__soe_8c_html_a2572aecb3869697ac939f78e22c3cd4e"><div class="ttname"><a href="fsm__soe_8c.html#a2572aecb3869697ac939f78e22c3cd4e">ec_fsm_soe_exec</a></div><div class="ttdeci">int ec_fsm_soe_exec(ec_fsm_soe_t *fsm, ec_datagram_t *datagram)</div><div class="ttdoc">Executes the current state of the state machine. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__soe_8c_source.html#l00152">fsm_soe.c:152</a></div></div>
<div class="ttc" id="fsm__coe_8c_html_a6b624db9f166f9b6957abf98de1825e4"><div class="ttname"><a href="fsm__coe_8c.html#a6b624db9f166f9b6957abf98de1825e4">ec_fsm_coe_transfer</a></div><div class="ttdeci">void ec_fsm_coe_transfer(ec_fsm_coe_t *fsm, ec_slave_t *slave, ec_sdo_request_t *request)</div><div class="ttdoc">Starts to transfer an SDO to/from a slave. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8c_source.html#l00205">fsm_coe.c:205</a></div></div>
<div class="ttc" id="structec__sync__t_html_ade13d88d878f5e87763c34b636a4c1a1"><div class="ttname"><a href="structec__sync__t.html#ade13d88d878f5e87763c34b636a4c1a1">ec_sync_t::default_length</a></div><div class="ttdeci">uint16_t default_length</div><div class="ttdoc">Data length in bytes. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8h_source.html#l00050">sync.h:50</a></div></div>
<div class="ttc" id="globals_8h_html_a0e9c38c7520909d649fac451046dcde0a1db532f4df475e41ee0613551f7bdc0c"><div class="ttname"><a href="globals_8h.html#a0e9c38c7520909d649fac451046dcde0a1db532f4df475e41ee0613551f7bdc0c">EC_SLAVE_STATE_PREOP</a></div><div class="ttdoc">PREOP state (mailbox communication, no IO) </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00132">globals.h:132</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a8c9aa96eb69c86706cdfeeaa4b4b17dd"><div class="ttname"><a href="fsm__slave__config_8c.html#a8c9aa96eb69c86706cdfeeaa4b4b17dd">ec_fsm_slave_config_state_sdo_conf</a></div><div class="ttdeci">void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: SDO_CONF. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00817">fsm_slave_config.c:817</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a8ac8e5402dd89ef793a8ea5de59bb1b4"><div class="ttname"><a href="fsm__slave__config_8c.html#a8ac8e5402dd89ef793a8ea5de59bb1b4">ec_fsm_slave_config_state_watchdog</a></div><div class="ttdeci">void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: WATCHDOG. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01058">fsm_slave_config.c:1058</a></div></div>
<div class="ttc" id="datagram_8h_html_ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a"><div class="ttname"><a href="datagram_8h.html#ac9882419ec1404dcca75761c4d1ce720a95630d1e98f6217bf0392b4295c5bc6a">EC_DATAGRAM_RECEIVED</a></div><div class="ttdoc">Received (dequeued). </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00078">datagram.h:78</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_a621a88cd2b5ee279537452ebbe40a057"><div class="ttname"><a href="fsm__slave__config_8c.html#a621a88cd2b5ee279537452ebbe40a057">ec_fsm_slave_config_enter_boot_preop</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *)</div><div class="ttdoc">Request PREOP state. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00680">fsm_slave_config.c:680</a></div></div>
<div class="ttc" id="structec__slave_html_aef33c89d3974546f5aed153b379d0d24"><div class="ttname"><a href="structec__slave.html#aef33c89d3974546f5aed153b379d0d24">ec_slave::error_flag</a></div><div class="ttdeci">unsigned int error_flag</div><div class="ttdoc">Stop processing after an error. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00193">slave.h:193</a></div></div>
<div class="ttc" id="structec__sii__t_html_a1cfcfe4bdca850f302cbb8938affa7b9"><div class="ttname"><a href="structec__sii__t.html#a1cfcfe4bdca850f302cbb8938affa7b9">ec_sii_t::syncs</a></div><div class="ttdeci">ec_sync_t * syncs</div><div class="ttdoc">SYNC MANAGER categories. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00165">slave.h:165</a></div></div>
<div class="ttc" id="structec__sii__t_html_a47eb676cee305c53f5fec378bc95c68d"><div class="ttname"><a href="structec__sii__t.html#a47eb676cee305c53f5fec378bc95c68d">ec_sii_t::std_tx_mailbox_size</a></div><div class="ttdeci">uint16_t std_tx_mailbox_size</div><div class="ttdoc">Standard transmit mailbox size. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00146">slave.h:146</a></div></div>
<div class="ttc" id="structec__master_html"><div class="ttname"><a href="structec__master.html">ec_master</a></div><div class="ttdoc">EtherCAT master. </div><div class="ttdef"><b>Definition:</b> <a href="master_8h_source.html#l00194">master.h:194</a></div></div>
<div class="ttc" id="structec__slave_html_af81c1abd2ac2b8a5a5bfbbfe7d79ce70"><div class="ttname"><a href="structec__slave.html#af81c1abd2ac2b8a5a5bfbbfe7d79ce70">ec_slave::requested_state</a></div><div class="ttdeci">ec_slave_state_t requested_state</div><div class="ttdoc">Requested application state. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8h_source.html#l00191">slave.h:191</a></div></div>
<div class="ttc" id="globals_8h_html_a1e0360410ca3cc2357e27b566951d52d"><div class="ttname"><a href="globals_8h.html#a1e0360410ca3cc2357e27b566951d52d">EC_FMMU_PAGE_SIZE</a></div><div class="ttdeci">#define EC_FMMU_PAGE_SIZE</div><div class="ttdoc">Size of an FMMU configuration page. </div><div class="ttdef"><b>Definition:</b> <a href="globals_8h_source.html#l00107">globals.h:107</a></div></div>
<div class="ttc" id="sync_8c_html_ae554464367e3ca0d6c2c402ee52461de"><div class="ttname"><a href="sync_8c.html#ae554464367e3ca0d6c2c402ee52461de">ec_sync_init</a></div><div class="ttdeci">void ec_sync_init(ec_sync_t *sync, ec_slave_t *slave)</div><div class="ttdoc">Constructor. </div><div class="ttdef"><b>Definition:</b> <a href="sync_8c_source.html#l00046">sync.c:46</a></div></div>
<div class="ttc" id="group__ApplicationInterface_html_gaf0e5a35aa54d971d75a6d00c148ffa83"><div class="ttname"><a href="group__ApplicationInterface.html#gaf0e5a35aa54d971d75a6d00c148ffa83">ecrt_sdo_request_write</a></div><div class="ttdeci">void ecrt_sdo_request_write(ec_sdo_request_t *req)</div><div class="ttdoc">Schedule an SDO write operation. </div><div class="ttdef"><b>Definition:</b> <a href="sdo__request_8c_source.html#l00235">sdo_request.c:235</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ad5a3b1f715cac3cdb65d6e949a5d6080"><div class="ttname"><a href="fsm__slave__config_8c.html#ad5a3b1f715cac3cdb65d6e949a5d6080">ec_fsm_slave_config_state_dc_sync_check</a></div><div class="ttdeci">void ec_fsm_slave_config_state_dc_sync_check(ec_fsm_slave_config_t *)</div><div class="ttdoc">Slave configuration state: DC SYNC CHECK. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01357">fsm_slave_config.c:1357</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_aa507b566eace93ee237a040d67a90430"><div class="ttname"><a href="fsm__slave__config_8c.html#aa507b566eace93ee237a040d67a90430">EC_DC_SYNC_WAIT_MS</a></div><div class="ttdeci">#define EC_DC_SYNC_WAIT_MS</div><div class="ttdoc">Maximum time (in ms) to wait for clock discipline. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l00056">fsm_slave_config.c:56</a></div></div>
<div class="ttc" id="structec__datagram__t_html_a3a643445750ee67fa83d182eb720380e"><div class="ttname"><a href="structec__datagram__t.html#a3a643445750ee67fa83d182eb720380e">ec_datagram_t::jiffies_received</a></div><div class="ttdeci">unsigned long jiffies_received</div><div class="ttdoc">Jiffies, when the datagram was received. </div><div class="ttdef"><b>Definition:</b> <a href="datagram_8h_source.html#l00108">datagram.h:108</a></div></div>
<div class="ttc" id="structec__fsm__change_html"><div class="ttname"><a href="structec__fsm__change.html">ec_fsm_change</a></div><div class="ttdoc">EtherCAT state change FSM. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8h_source.html#l00064">fsm_change.h:64</a></div></div>
<div class="ttc" id="fsm__slave__config_8c_html_ab06cdcc4a2f26e5ed899fdbe8265b0ed"><div class="ttname"><a href="fsm__slave__config_8c.html#ab06cdcc4a2f26e5ed899fdbe8265b0ed">ec_fsm_slave_config_enter_dc_cycle</a></div><div class="ttdeci">void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *)</div><div class="ttdoc">Check for DC to be configured. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8c_source.html#l01276">fsm_slave_config.c:1276</a></div></div>
<div class="ttc" id="soe__request_8c_html_a0aed2b2f97cf1436f7f778ccfb8c5553"><div class="ttname"><a href="soe__request_8c.html#a0aed2b2f97cf1436f7f778ccfb8c5553">ec_soe_request_copy</a></div><div class="ttdeci">int ec_soe_request_copy(ec_soe_request_t *req, const ec_soe_request_t *other)</div><div class="ttdoc">Copy another SoE request. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8c_source.html#l00090">soe_request.c:90</a></div></div>
<div class="ttc" id="fsm__change_8c_html_a07f6b7b3e079c69fcc052f7fcd4354ce"><div class="ttname"><a href="fsm__change_8c.html#a07f6b7b3e079c69fcc052f7fcd4354ce">ec_fsm_change_success</a></div><div class="ttdeci">int ec_fsm_change_success(ec_fsm_change_t *fsm)</div><div class="ttdoc">Returns, if the state machine terminated with success. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__change_8c_source.html#l00139">fsm_change.c:139</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_aaca0412b1e9430abb207655e6a42830a"><div class="ttname"><a href="structec__fsm__slave__config.html#aaca0412b1e9430abb207655e6a42830a">ec_fsm_slave_config::jiffies_start</a></div><div class="ttdeci">unsigned long jiffies_start</div><div class="ttdoc">For timeout calculations. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00069">fsm_slave_config.h:69</a></div></div>
<div class="ttc" id="structec__soe__request__t_html"><div class="ttname"><a href="structec__soe__request__t.html">ec_soe_request_t</a></div><div class="ttdoc">Sercos-over-EtherCAT request. </div><div class="ttdef"><b>Definition:</b> <a href="soe__request_8h_source.html#l00048">soe_request.h:48</a></div></div>
<div class="ttc" id="structec__fsm__coe_html"><div class="ttname"><a href="structec__fsm__coe.html">ec_fsm_coe</a></div><div class="ttdoc">Finite state machines for the CANopen over EtherCAT protocol. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__coe_8h_source.html#l00052">fsm_coe.h:52</a></div></div>
<div class="ttc" id="slave_8c_html_a0a1f1035888d33dcd86a5ca5a5f3acc2"><div class="ttname"><a href="slave_8c.html#a0a1f1035888d33dcd86a5ca5a5f3acc2">ec_slave_get_sync</a></div><div class="ttdeci">ec_sync_t * ec_slave_get_sync(ec_slave_t *slave, uint8_t sync_index)</div><div class="ttdoc">Get the sync manager given an index. </div><div class="ttdef"><b>Definition:</b> <a href="slave_8c_source.html#l00590">slave.c:590</a></div></div>
<div class="ttc" id="structec__fsm__slave__config_html_a706c10900a9822291dbd2a521889146b"><div class="ttname"><a href="structec__fsm__slave__config.html#a706c10900a9822291dbd2a521889146b">ec_fsm_slave_config::retries</a></div><div class="ttdeci">unsigned int retries</div><div class="ttdoc">Retries on datagram timeout. </div><div class="ttdef"><b>Definition:</b> <a href="fsm__slave__config_8h_source.html#l00064">fsm_slave_config.h:64</a></div></div>
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